Complete Parameter List¶

Full Parameter List of AntennaTracker latest V4.7.0 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_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 MAV_SYSID parameter of the vehicle being tracked.

Range
1 to 255

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

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

Increment	Range	Units
0.1	0 to 20	seconds

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

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

Increment	Range	Units
0.1	0 to 20	seconds

MIN_REVERSE_TIME: Minimum time to apply a yaw reversal¶

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

Increment	Range	Units
1	0 to 20	seconds

START_LATITUDE: Initial Latitude before GPS lock¶

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

Increment	Range	Units
0.000001	-90 to 90	degrees

START_LONGITUDE: Initial Longitude before GPS lock¶

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

Increment	Range	Units
0.000001	-180 to 180	degrees

STARTUP_DELAY: Delay before first servo movement from trim¶

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

Increment	Range	Units
0.1	0 to 10	seconds

SERVO_PITCH_TYPE: Type of servo system being used for pitch¶

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

Values

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 to 50	degrees per second

ONOFF_PITCH_RATE: Pitch rate for on/off servos¶

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

Increment	Range	Units
0.1	0 to 50	degrees per second

ONOFF_YAW_MINT: Yaw minimum movement time¶

Minimum amount of time in seconds to move in yaw

Increment	Range	Units
0.01	0 to 2	seconds

ONOFF_PITCH_MINT: Pitch minimum movement time¶

Minimum amount of time in seconds to move in pitch

Increment	Range	Units
0.01	0 to 2	seconds

YAW_TRIM: Yaw trim¶

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

Increment	Range	Units
0.1	-10 to 10	degrees

PITCH_TRIM: Pitch trim¶

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

Increment	Range	Units
0.1	-10 to 10	degrees

YAW_RANGE: Yaw Angle Range¶

Yaw axis total range of motion in degrees

Increment	Range	Units
0.1	0 to 360	degrees

DISTANCE_MIN: Distance minimum to target¶

Tracker will track targets at least this distance away

Increment	Range	Units
1	0 to 100	meters

ALT_SOURCE: Altitude Source¶

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

Values

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 to 10	hertz

PITCH_MIN: Minimum Pitch Angle¶

The lowest angle the pitch can reach

Increment	Range	Units
1	-90 to 0	degrees

PITCH_MAX: Maximum Pitch Angle¶

The highest angle the pitch can reach

Increment	Range	Units
1	0 to 90	degrees

LOG_BITMASK: Log bitmask¶

4 byte bitmap of log types to enable

Bitmask

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 to 3.0

PITCH2SRV_I: Pitch axis controller I gain¶

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

Increment	Range
0.01	0.0 to 3.0

PITCH2SRV_IMAX: Pitch axis controller I gain maximum¶

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

Increment	Range	Units
10	0 to 4000	decipercent

PITCH2SRV_D: Pitch axis controller D gain¶

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

Increment	Range
0.001	0.001 to 0.1

PITCH2SRV_FF: Pitch axis controller feed forward¶

Pitch axis controller feed forward

Increment	Range
0.001	0 to 0.5

PITCH2SRV_FLTT: Pitch axis controller target frequency in Hz¶

Pitch axis controller target frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

PITCH2SRV_FLTE: Pitch axis controller error frequency in Hz¶

Pitch axis controller error frequency in Hz

Increment	Range	Units
1	1 to 100	hertz

PITCH2SRV_FLTD: Pitch axis controller derivative frequency in Hz¶

Pitch axis controller derivative frequency in Hz

Increment	Range	Units
1	1 to 100	hertz

PITCH2SRV_SMAX: Pitch slew rate limit¶

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 to 200

PITCH2SRV_PDMX: Pitch axis controller PD sum maximum¶

Note: This parameter is for advanced users

Pitch axis controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Increment	Range	Units
10	0 to 4000	decipercent

PITCH2SRV_D_FF: Pitch Derivative FeedForward Gain¶

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Increment	Range
0.001	0 to 0.1

PITCH2SRV_NTF: Pitch Target notch filter index¶

Note: This parameter is for advanced users

Pitch Target notch filter index

Range
1 to 8

PITCH2SRV_NEF: Pitch Error notch filter index¶

Note: This parameter is for advanced users

Pitch Error notch filter index

Range
1 to 8

YAW2SRV_P: Yaw axis controller P gain¶

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

Increment	Range
0.01	0.0 to 3.0

YAW2SRV_I: Yaw axis controller I gain¶

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

Increment	Range
0.01	0.0 to 3.0

YAW2SRV_IMAX: Yaw axis controller I gain maximum¶

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

Increment	Range	Units
10	0 to 4000	decipercent

YAW2SRV_D: Yaw axis controller D gain¶

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

Increment	Range
0.001	0.001 to 0.1

YAW2SRV_FF: Yaw axis controller feed forward¶

Yaw axis controller feed forward

Increment	Range
0.001	0 to 0.5

YAW2SRV_FLTT: Yaw axis controller target frequency in Hz¶

Yaw axis controller target frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

YAW2SRV_FLTE: Yaw axis controller error frequency in Hz¶

Yaw axis controller error frequency in Hz

Increment	Range	Units
1	1 to 100	hertz

YAW2SRV_FLTD: Yaw axis controller derivative frequency in Hz¶

Yaw axis controller derivative frequency in Hz

Increment	Range	Units
1	1 to 100	hertz

YAW2SRV_SMAX: Yaw slew rate limit¶

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 to 200

YAW2SRV_PDMX: Yaw axis controller PD sum maximum¶

Note: This parameter is for advanced users

Yaw axis controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Increment	Range	Units
10	0 to 4000	decipercent

YAW2SRV_D_FF: Yaw Derivative FeedForward Gain¶

Note: This parameter is for advanced users

FF D Gain which produces an output that is proportional to the rate of change of the target

Increment	Range
0.001	0 to 0.1

YAW2SRV_NTF: Yaw Target notch filter index¶

Note: This parameter is for advanced users

Yaw Target notch filter index

Range
1 to 8

YAW2SRV_NEF: Yaw Error notch filter index¶

Note: This parameter is for advanced users

Yaw Error notch filter index

Range
1 to 8

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 to 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

Bit	Meaning
0	Pitch
1	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 to 100	degrees per second

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

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

Increment	Range	Units
1	0 to 100	degrees per second

INITIAL_MODE: Mode tracker will switch into after initialization¶

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

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

0:zero pwm, 1:trim pwm

AUTO_OPTIONS: Auto mode options¶

1: Scan for unknown target

Bitmask

Bit	Meaning
0	Scan for unknown target

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
0.01	0.0 to 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
0.01	0.1 to 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
0.01	0.1 to 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. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.

Increment	Range	Units
1	0 to 127	meters per second

AHRS_TRIM_X: AHRS Trim Roll¶

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

Increment	Range	Units
0.01	-0.1745 to +0.1745	radians

AHRS_TRIM_Y: AHRS Trim Pitch¶

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

Increment	Range	Units
0.01	-0.1745 to +0.1745	radians

AHRS_TRIM_Z: AHRS Trim Yaw¶

Note: This parameter is for advanced users

Not Used

Increment	Range	Units
0.01	-0.1745 to +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. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.

Values

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
0.01	0.001 to 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 to 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
10	Sim
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 to 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 to 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 to 180	degrees

AHRS_OPTIONS: Optional AHRS behaviour¶

Note: This parameter is for advanced users

This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency

Bitmask

Bit	Meaning
0	DisableDCMFallbackFW
1	DisableDCMFallbackVTOL
2	DontDisableAirspeedUsingEKF

AIS_ Parameters¶

AIS_TYPE: AIS receiver type¶

Note: Reboot required after change

AIS receiver type

Values

Value	Meaning
0	None
1	NMEA AIVDM message

AIS_LIST_MAX: AIS vessel list size¶

Note: This parameter is for advanced users

AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.

Range
1 to 100

AIS_TIME_OUT: AIS vessel time out¶

Note: This parameter is for advanced users

if no updates are received in this time a vessel will be removed from the list

Range	Units
1 to 2000	seconds

AIS_LOGGING: AIS logging options¶

Note: This parameter is for advanced users

Bitmask of AIS logging options

Bitmask

Bit	Meaning
0	Log all AIVDM messages
1	Log only unsupported AIVDM messages
2	Log decoded messages

ARSPD Parameters¶

ARSPD_ENABLE: Airspeed Enable¶

Enable airspeed sensor support

Values

Value	Meaning
0	Disable
1	Enable

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_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_OPTIONS: Airspeed options bitmask¶

Note: This parameter is for advanced users

Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3), 4:Report cal offset to GCS

Bitmask

Bit	Meaning
0	SpeedMismatchDisable
1	AllowSpeedMismatchRecovery
2	DisableVoltageCorrection
3	UseEkf3Consistency
4	ReportOffset

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_OPTIONS this health value can be used to disable the sensor.

Units
meters per second

ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning¶

Note: This parameter is for advanced users

If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.

Units
meters per second

ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size¶

Note: This parameter is for advanced users

Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log message by setting ARSPD_WIND_GATE to a value that is higher than the value for ARSP.TR observed with a healthy airspeed sensor. Occasional transients in ARSP.TR above the value set by ARSPD_WIND_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10% duty cycle.

Range
0.0 to 10.0

ARSPD_OFF_PCNT: Maximum offset cal speed error¶

Note: This parameter is for advanced users

The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of AIRSPEED_MIN. 0 disables. Helps warn of calibrations without pitot being covered.

Range	Units
0.0 to 10.0	percent

ARSPD2_ Parameters¶

ARSPD2_TYPE: Airspeed type¶

Type of airspeed sensor

Values

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
16	ExternalAHRS
17	AUAV-10in
18	AUAV-5in
19	AUAV-30in
100	SITL

ARSPD2_USE: Airspeed use¶

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

Values

Value	Meaning
0	DoNotUse
1	Use
2	UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset¶

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD2_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

ARSPD2_PIN: Airspeed pin¶

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

ARSPD2_AUTOCAL: Automatic airspeed ratio calibration¶

Note: This parameter is for advanced users

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

ARSPD2_TUBE_ORDR: Control pitot tube order¶

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¶

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 or requiring a manual 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	Do not require offset calibration before flight. Manual calibration should be performed during initial setup.
2	Do not calibrate on start up. Manual calibration must be performed once per boot.

ARSPD2_PSI_RANGE: The PSI range of the device¶

Note: This parameter is for advanced users

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

ARSPD2_BUS: Airspeed I2C bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

Values

Value	Meaning
0	Bus0
1	Bus1
2	Bus2

ARSPD2_DEVID: Airspeed ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

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
16	ExternalAHRS
17	AUAV-10in
18	AUAV-5in
19	AUAV-30in
100	SITL

ARSPD_USE: Airspeed use¶

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

Values

Value	Meaning
0	DoNotUse
1	Use
2	UseWhenZeroThrottle

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. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

ARSPD_AUTOCAL: Automatic airspeed ratio calibration¶

Note: This parameter is for advanced users

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

ARSPD_TUBE_ORDR: Control pitot tube order¶

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 or requiring a manual 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	Do not require offset calibration before flight. Manual calibration should be performed during initial setup.
2	Do not calibrate on start up. Manual calibration must be performed once per boot.

ARSPD_PSI_RANGE: The PSI range of the device¶

Note: This parameter is for advanced users

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

ARSPD_BUS: Airspeed I2C bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

Values

Value	Meaning
0	Bus0
1	Bus1
2	Bus2

ARSPD_DEVID: Airspeed ID¶

Note: This parameter is for advanced users

Airspeed 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 BARO_PROBE_EXT parameter.

Values

Value	Meaning
-1	Disabled
0	Bus0
1	Bus1
6	Bus6

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 to 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 BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.

Bitmask

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
13	BMP581
14	AUAV

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

BARO_FIELD_ELV: field elevation¶

Note: This parameter is for advanced users

User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.

Increment	Units	Volatile
0.1	meters	True

BARO_ALTERR_MAX: Altitude error maximum¶

Note: This parameter is for advanced users

This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.

Increment	Range	Units
1	0 to 5000	meters

BARO_OPTIONS: Barometer options¶

Note: This parameter is for advanced users

Barometer options

Bitmask

Bit	Meaning
0	Treat MS5611 as MS5607

BARO1_THST_SCALE: Thrust compensation¶

Note: This parameter is for advanced users

Thrust scaling in Pascals. This value scaled by the normalized thrust is subtracted from the barometer pressure. This is used to adjust linearly based on the thrust output for local pressure difference induced by the props.

Range
-300 to 300

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 to 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 to 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 to 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 to 1.0

BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up)¶

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 Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down)¶

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 Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_ Parameters¶

BARO2_WCF_ENABLE: Wind coefficient enable¶

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 to 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 to 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 to 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 to 1.0

BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up)¶

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 Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down)¶

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 Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_ Parameters¶

BARO3_WCF_ENABLE: Wind coefficient enable¶

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 to 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 to 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 to 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 to 1.0

BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up)¶

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 Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down)¶

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 Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BATT2_ Parameters¶

BATT2_MONITOR: Battery monitoring¶

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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT2_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT2_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT2_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT2_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT2_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT2_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT2_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT2_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT2_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT2_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT2_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT2_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT2_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT2_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT2_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT2_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT2_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT2_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT2_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT2_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT2_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT2_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT2_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT2_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT2_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT2_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT2_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT2_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT2_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT2_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ 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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT3_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT3_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT3_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT3_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT3_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT3_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT3_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT3_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT3_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT3_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT3_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT3_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT3_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT3_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT3_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT3_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT3_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT3_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT3_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT3_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT3_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT3_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT3_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT3_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT3_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT3_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT3_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT3_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT3_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT3_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ 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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT4_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT4_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT4_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT4_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT4_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT4_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT4_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT4_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT4_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT4_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT4_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT4_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT4_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT4_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT4_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT4_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT4_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT4_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT4_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT4_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT4_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT4_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT4_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT4_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT4_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT4_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT4_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT4_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT4_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT4_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ 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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT5_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT5_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT5_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT5_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT5_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT5_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT5_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT5_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT5_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT5_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT5_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT5_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT5_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT5_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT5_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT5_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT5_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT5_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT5_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT5_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT5_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT5_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT5_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT5_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT5_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT5_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT5_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT5_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT5_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT5_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ 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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT6_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT6_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT6_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT6_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT6_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT6_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT6_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT6_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT6_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT6_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT6_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT6_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT6_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT6_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT6_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT6_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT6_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT6_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT6_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT6_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT6_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT6_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT6_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT6_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT6_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT6_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT6_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT6_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT6_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT6_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ 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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT7_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT7_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT7_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT7_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT7_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT7_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT7_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT7_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT7_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT7_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT7_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT7_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT7_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT7_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT7_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT7_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT7_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT7_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT7_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT7_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT7_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT7_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT7_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT7_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT7_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT7_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT7_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT7_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT7_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT7_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ 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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT8_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT8_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT8_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT8_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT8_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT8_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT8_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT8_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT8_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT8_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT8_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT8_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT8_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT8_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT8_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT8_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT8_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT8_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT8_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT8_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT8_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT8_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT8_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT8_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT8_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT8_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT8_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT8_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT8_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT8_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ 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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT9_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT9_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT9_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT9_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT9_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT9_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT9_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT9_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT9_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT9_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT9_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT9_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT9_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT9_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT9_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT9_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT9_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT9_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT9_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT9_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT9_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT9_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT9_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT9_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT9_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT9_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT9_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT9_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT9_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT9_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTA_ Parameters¶

BATTA_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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

BATTA_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTA_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.

BATTA_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 to 120	seconds

BATTA_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

BATTA_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 BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTA_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 BATTA_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTA_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 BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTA_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 BATTA_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTA_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

BATTA_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

BATTA_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

BATTA_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 BATTA_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTA_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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATTA_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTA_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTA_CURR_PIN (AP_BattMonitor_Analog): 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

BATTA_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTA_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.

BATTA_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTA_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATTA_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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

BATTA_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTA_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTA_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

BATTA_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
0.1 to 10

BATTA_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATTA_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATTA_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATTA_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTA_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTA_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTA_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTA_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTA_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTA_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTA_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTA_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTA_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTA_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATTA_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTA_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTA_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTA_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTA_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTA_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTA_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTA_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTA_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTA_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATTA_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTB_ Parameters¶

BATTB_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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

BATTB_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTB_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.

BATTB_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 to 120	seconds

BATTB_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

BATTB_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 BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTB_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 BATTB_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTB_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 BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTB_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 BATTB_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTB_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

BATTB_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

BATTB_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

BATTB_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 BATTB_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTB_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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATTB_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTB_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTB_CURR_PIN (AP_BattMonitor_Analog): 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

BATTB_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTB_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.

BATTB_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTB_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATTB_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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

BATTB_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTB_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTB_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

BATTB_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
0.1 to 10

BATTB_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATTB_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATTB_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATTB_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTB_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTB_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTB_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTB_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTB_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTB_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTB_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTB_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTB_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTB_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATTB_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTB_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTB_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTB_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTB_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTB_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTB_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTB_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTB_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTB_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATTB_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTC_ Parameters¶

BATTC_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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

BATTC_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTC_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.

BATTC_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 to 120	seconds

BATTC_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

BATTC_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 BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTC_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 BATTC_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTC_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 BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTC_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 BATTC_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTC_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

BATTC_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

BATTC_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

BATTC_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 BATTC_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTC_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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATTC_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTC_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTC_CURR_PIN (AP_BattMonitor_Analog): 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

BATTC_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTC_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.

BATTC_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTC_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATTC_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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

BATTC_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTC_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTC_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

BATTC_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
0.1 to 10

BATTC_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATTC_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATTC_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATTC_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTC_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTC_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTC_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTC_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTC_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTC_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTC_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTC_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTC_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTC_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATTC_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTC_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTC_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTC_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTC_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTC_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTC_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTC_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTC_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTC_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATTC_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTD_ Parameters¶

BATTD_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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

BATTD_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTD_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.

BATTD_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 to 120	seconds

BATTD_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

BATTD_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 BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTD_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 BATTD_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTD_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 BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTD_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 BATTD_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTD_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

BATTD_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

BATTD_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

BATTD_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 BATTD_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTD_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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATTD_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTD_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTD_CURR_PIN (AP_BattMonitor_Analog): 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

BATTD_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTD_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.

BATTD_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTD_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATTD_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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

BATTD_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTD_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTD_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

BATTD_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
0.1 to 10

BATTD_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATTD_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATTD_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATTD_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTD_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTD_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTD_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTD_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTD_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTD_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTD_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTD_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTD_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTD_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATTD_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTD_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTD_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTD_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTD_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTD_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTD_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTD_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTD_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTD_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATTD_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTE_ Parameters¶

BATTE_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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

BATTE_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTE_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.

BATTE_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 to 120	seconds

BATTE_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

BATTE_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 BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTE_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 BATTE_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTE_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 BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTE_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 BATTE_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTE_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

BATTE_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

BATTE_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

BATTE_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 BATTE_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTE_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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATTE_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTE_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTE_CURR_PIN (AP_BattMonitor_Analog): 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

BATTE_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTE_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.

BATTE_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTE_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATTE_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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

BATTE_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTE_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTE_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

BATTE_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
0.1 to 10

BATTE_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATTE_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATTE_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATTE_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTE_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTE_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTE_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTE_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTE_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTE_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTE_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTE_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTE_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTE_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATTE_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTE_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTE_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTE_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTE_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTE_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTE_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTE_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTE_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTE_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATTE_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTF_ Parameters¶

BATTF_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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

BATTF_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTF_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.

BATTF_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 to 120	seconds

BATTF_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

BATTF_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 BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTF_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 BATTF_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTF_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 BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTF_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 BATTF_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTF_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

BATTF_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

BATTF_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

BATTF_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 BATTF_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTF_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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATTF_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTF_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTF_CURR_PIN (AP_BattMonitor_Analog): 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

BATTF_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTF_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.

BATTF_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTF_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATTF_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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

BATTF_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTF_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTF_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

BATTF_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
0.1 to 10

BATTF_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATTF_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATTF_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATTF_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTF_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTF_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTF_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTF_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTF_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTF_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTF_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTF_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTF_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTF_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATTF_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTF_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTF_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTF_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTF_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTF_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTF_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTF_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTF_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTF_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATTF_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

BATTG_ Parameters¶

BATTG_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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

BATTG_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTG_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.

BATTG_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 to 120	seconds

BATTG_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

BATTG_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 BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTG_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 BATTG_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTG_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 BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTG_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 BATTG_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTG_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

BATTG_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

BATTG_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

BATTG_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 BATTG_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTG_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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATTG_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTG_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTG_CURR_PIN (AP_BattMonitor_Analog): 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

BATTG_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTG_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.

BATTG_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATTG_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATTG_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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

BATTG_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTG_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTG_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

BATTG_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
0.1 to 10

BATTG_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATTG_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATTG_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATTG_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTG_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTG_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTG_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTG_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTG_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATTG_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTG_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTG_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTG_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTG_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATTG_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTG_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTG_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATTG_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTG_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTG_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTG_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATTG_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTG_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTG_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATTG_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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_ 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
24	FuelLevelAnalog
25	Synthetic Current and Analog Voltage
26	INA239_SPI
27	EFI
28	AD7091R5
29	Scripting
30	INA3221

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 to 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
7	Allow DroneCAN InfoAux to be from a different CAN node
8	Battery is for internal autopilot use only
9	Sum monitor measures minimum voltage instead of average
10	Allow DroneCAN dynamic node update on hot-swap

BATT_ESC_INDEX: ESC Telemetry Index to write to¶

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT_VLT_OFFSET (AP_BattMonitor_Analog): Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

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
0.1 to 10

BATT_FL_VLT_MIN: Empty fuel level voltage¶

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT_FL_V_MULT: Fuel level voltage multiplier¶

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT_FL_FLTR: Fuel level filter frequency¶

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT_FL_PIN: Fuel level analog pin number¶

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term¶

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT_FL_FS: Second order term¶

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT_FL_FT: Third order term¶

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT_FL_OFF: Offset term¶

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATT_MAX_VOLT: Maximum Battery Voltage¶

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT_ESC_MASK: ESC mask¶

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

BATT_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT_CHANNEL: INA3221 channel¶

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values

Value	Meaning
-1	Disabled

BATT_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT_VLT_OFFSET (AP_BattMonitor_AD7091R5): 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

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
3	RS-485 Driver enable RTS pin

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
3	RS-485 Driver enable RTS pin

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
3	RS-485 Driver enable RTS pin

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
3	RS-485 Driver enable RTS pin

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
3	RS-485 Driver enable RTS pin

BRD_SER6_RTSCTS: Serial 6 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 6. 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
3	RS-485 Driver enable RTS pin

BRD_SER7_RTSCTS: Serial 7 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 7. 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
3	RS-485 Driver enable RTS pin

BRD_SER8_RTSCTS: Serial 8 flow control¶

Enable flow control on serial 8. 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.

BRD_SAFETY_DEFLT: Sets default state of the safety 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 to 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
14	Output15
15	Output16
16	Output17
17	Output18
18	Output19
19	Output20
20	Output21
21	Output22
22	Output23
23	Output24
24	Output25
25	Output26
26	Output27
27	Output28
28	Output29
29	Output30
30	Output31
31	Output32

BRD_HEAT_TARG: Board heater temperature target¶

Note: This parameter is for advanced users

Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.

Range	Units
-1 to 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 boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup

Values

Value	Meaning
0	Disabled
1	Enabled
2	EnableNoFWUpdate

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	ActiveForSafetyDisable
1	ActiveForSafetyEnable
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 to 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 to 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 to 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. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.

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
7	Skip board validation
8	Disable board arming gpio output change on arm/disarm
9	Use safety pins as profiled

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 to 10000	milliseconds

BRD_HEAT_P: Board Heater P gain¶

Note: This parameter is for advanced users

Board Heater P gain

Increment	Range
1	1 to 500

BRD_HEAT_I: Board Heater I gain¶

Note: This parameter is for advanced users

Board Heater integrator gain

Increment	Range
0.1	0 to 1

BRD_HEAT_IMAX: Board Heater IMAX¶

Note: This parameter is for advanced users

Board Heater integrator maximum

Increment	Range
1	0 to 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 to 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 to 20	degrees Celsius

BRD_SD_MISSION: SDCard Mission size¶

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.

Range
0 to 64

BRD_SD_FENCE: SDCard Fence size¶

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.

Range
0 to 64

BRD_IO_DSHOT: Load DShot FW on IO¶

Note: This parameter is for advanced users

Note: Reboot required after change

This loads the DShot firmware on the IO co-processor

Values

Value	Meaning
0	StandardFW
1	DshotFW

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 to 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 to 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 to 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 to 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 to 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 to 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 to 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 to 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 to 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 to 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 to +840

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 to 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
4	PiccoloCAN
6	EFI_NWPMU
7	USD1
8	KDECAN
10	Scripting
11	Benewake
12	Scripting2
13	TOFSenseP
14	RadarCAN (NanoRadar/Hexsoon)

CAN_D1_PROTOCOL2: Secondary protocol with 11 bit CAN addressing¶

Note: This parameter is for advanced users

Note: Reboot required after change

Secondary protocol with 11 bit CAN addressing

Values

Value	Meaning
0	Disabled
7	USD1
10	Scripting
11	Benewake
12	Scripting2
13	TOFSenseP
14	RadarCAN (NanoRadar/Hexsoon)

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D1_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 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 to 500	hertz

CAN_D1_PC_ECU_ID: ECU Node ID¶

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D1_PC_ECU_RT: ECU command output rate¶

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D1_UC_ Parameters¶

CAN_D1_UC_NODE: Own node ID¶

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Range
1 to 125

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

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

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
16	Servo 17
17	Servo 18
18	Servo 19
19	Servo 20
20	Servo 21
21	Servo 22
22	Servo 23
23	Servo 24
24	Servo 25
25	Servo 26
26	Servo 27
27	Servo 28
28	Servo 29
29	Servo 30
30	Servo 31
31	Servo 32

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

Note: This parameter is for advanced users

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

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D1_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D1_UC_OPTION: DroneCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts
2	EnableCanfd
3	IgnoreDNANodeUnhealthy
4	SendServoAsPWM
5	SendGNSS
6	UseHimarkServo
7	HobbyWingESC
8	EnableStats
9	EnableFlexDebug

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 to 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 outputs 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 efficient usage of CAN bandwidth

Range
0 to 18

CAN_D1_UC_POOL: CAN pool size¶

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range
1024 to 16384

CAN_D1_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.¶

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D1_UC_RLY_RT: DroneCAN relay output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

Range	Units
0 to 200	hertz

CAN_D1_UC_SER_EN: DroneCAN Serial enable¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable DroneCAN virtual serial ports

Values

Value	Meaning
0	Disabled
1	Enabled

CAN_D1_UC_S1_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D1_UC_S1_IDX: DroneCAN Serial1 index¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D1_UC_S1_BD: DroneCAN Serial default baud rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D1_UC_S1_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D1_UC_S2_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D1_UC_S2_IDX: Serial port number on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D1_UC_S2_BD: DroneCAN Serial default baud rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D1_UC_S2_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D1_UC_S3_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN node number for serial port

Range
0 to 127

CAN_D1_UC_S3_IDX: Serial port number on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D1_UC_S3_BD: Serial baud rate on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D1_UC_S3_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

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
4	PiccoloCAN
6	EFI_NWPMU
7	USD1
8	KDECAN
10	Scripting
11	Benewake
12	Scripting2
13	TOFSenseP
14	RadarCAN (NanoRadar/Hexsoon)

CAN_D2_PROTOCOL2: Secondary protocol with 11 bit CAN addressing¶

Note: This parameter is for advanced users

Note: Reboot required after change

Secondary protocol with 11 bit CAN addressing

Values

Value	Meaning
0	Disabled
7	USD1
10	Scripting
11	Benewake
12	Scripting2
13	TOFSenseP
14	RadarCAN (NanoRadar/Hexsoon)

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D2_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 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 to 500	hertz

CAN_D2_PC_ECU_ID: ECU Node ID¶

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D2_PC_ECU_RT: ECU command output rate¶

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D2_UC_ Parameters¶

CAN_D2_UC_NODE: Own node ID¶

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Range
1 to 125

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

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

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
16	Servo 17
17	Servo 18
18	Servo 19
19	Servo 20
20	Servo 21
21	Servo 22
22	Servo 23
23	Servo 24
24	Servo 25
25	Servo 26
26	Servo 27
27	Servo 28
28	Servo 29
29	Servo 30
30	Servo 31
31	Servo 32

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

Note: This parameter is for advanced users

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

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D2_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D2_UC_OPTION: DroneCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts
2	EnableCanfd
3	IgnoreDNANodeUnhealthy
4	SendServoAsPWM
5	SendGNSS
6	UseHimarkServo
7	HobbyWingESC
8	EnableStats
9	EnableFlexDebug

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 to 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 outputs 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 efficient usage of CAN bandwidth

Range
0 to 18

CAN_D2_UC_POOL: CAN pool size¶

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range
1024 to 16384

CAN_D2_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.¶

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D2_UC_RLY_RT: DroneCAN relay output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

Range	Units
0 to 200	hertz

CAN_D2_UC_SER_EN: DroneCAN Serial enable¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable DroneCAN virtual serial ports

Values

Value	Meaning
0	Disabled
1	Enabled

CAN_D2_UC_S1_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D2_UC_S1_IDX: DroneCAN Serial1 index¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D2_UC_S1_BD: DroneCAN Serial default baud rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D2_UC_S1_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D2_UC_S2_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D2_UC_S2_IDX: Serial port number on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D2_UC_S2_BD: DroneCAN Serial default baud rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D2_UC_S2_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D2_UC_S3_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN node number for serial port

Range
0 to 127

CAN_D2_UC_S3_IDX: Serial port number on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D2_UC_S3_BD: Serial baud rate on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D2_UC_S3_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

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
4	PiccoloCAN
6	EFI_NWPMU
7	USD1
8	KDECAN
10	Scripting
11	Benewake
12	Scripting2
13	TOFSenseP
14	RadarCAN (NanoRadar/Hexsoon)

CAN_D3_PROTOCOL2: Secondary protocol with 11 bit CAN addressing¶

Note: This parameter is for advanced users

Note: Reboot required after change

Secondary protocol with 11 bit CAN addressing

Values

Value	Meaning
0	Disabled
7	USD1
10	Scripting
11	Benewake
12	Scripting2
13	TOFSenseP
14	RadarCAN (NanoRadar/Hexsoon)

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D3_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 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 to 500	hertz

CAN_D3_PC_ECU_ID: ECU Node ID¶

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D3_PC_ECU_RT: ECU command output rate¶

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D3_UC_ Parameters¶

CAN_D3_UC_NODE: Own node ID¶

Note: This parameter is for advanced users

DroneCAN node ID used by the driver itself on this network

Range
1 to 125

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

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

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
16	Servo 17
17	Servo 18
18	Servo 19
19	Servo 20
20	Servo 21
21	Servo 22
22	Servo 23
23	Servo 24
24	Servo 25
25	Servo 26
26	Servo 27
27	Servo 28
28	Servo 29
29	Servo 30
30	Servo 31
31	Servo 32

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

Note: This parameter is for advanced users

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

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D3_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D3_UC_OPTION: DroneCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts
2	EnableCanfd
3	IgnoreDNANodeUnhealthy
4	SendServoAsPWM
5	SendGNSS
6	UseHimarkServo
7	HobbyWingESC
8	EnableStats
9	EnableFlexDebug

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 to 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 outputs 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 efficient usage of CAN bandwidth

Range
0 to 18

CAN_D3_UC_POOL: CAN pool size¶

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range
1024 to 16384

CAN_D3_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.¶

Note: This parameter is for advanced users

Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.

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
16	ESC 17
17	ESC 18
18	ESC 19
19	ESC 20
20	ESC 21
21	ESC 22
22	ESC 23
23	ESC 24
24	ESC 25
25	ESC 26
26	ESC 27
27	ESC 28
28	ESC 29
29	ESC 30
30	ESC 31
31	ESC 32

CAN_D3_UC_RLY_RT: DroneCAN relay output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state

Range	Units
0 to 200	hertz

CAN_D3_UC_SER_EN: DroneCAN Serial enable¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable DroneCAN virtual serial ports

Values

Value	Meaning
0	Disabled
1	Enabled

CAN_D3_UC_S1_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D3_UC_S1_IDX: DroneCAN Serial1 index¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D3_UC_S1_BD: DroneCAN Serial default baud rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D3_UC_S1_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D3_UC_S2_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN remote node number for serial port

Range
0 to 127

CAN_D3_UC_S2_IDX: Serial port number on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D3_UC_S2_BD: DroneCAN Serial default baud rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D3_UC_S2_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

CAN_D3_UC_S3_NOD: Serial CAN remote node number¶

Note: This parameter is for advanced users

Note: Reboot required after change

CAN node number for serial port

Range
0 to 127

CAN_D3_UC_S3_IDX: Serial port number on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial port number on remote CAN node

Range

Values

0 to 100

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

CAN_D3_UC_S3_BD: Serial baud rate on remote CAN node¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial baud rate on remote CAN node

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

CAN_D3_UC_S3_PRO: Serial protocol of DroneCAN serial port¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of DroneCAN serial port

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

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 to 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_P1_OPTIONS: CAN per-interface options¶

Note: This parameter is for advanced users

CAN per-interface options

Bitmask

Bit	Meaning
0	LogAllFrames

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 to 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_P2_OPTIONS: CAN per-interface options¶

Note: This parameter is for advanced users

CAN per-interface options

Bitmask

Bit	Meaning
0	LogAllFrames

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 to 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_P3_OPTIONS: CAN per-interface options¶

Note: This parameter is for advanced users

CAN per-interface options

Bitmask

Bit	Meaning
0	LogAllFrames

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 to 127

CAN_SLCAN_SDELAY: SLCAN Start Delay¶

Duration after which slcan starts after setting SERNUM in seconds.

Range
0 to 127

COMPASS_ Parameters¶

COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶

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 to 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 to 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

Calibration	Increment	Range	Units
1	1	-400 to 400	milligauss

COMPASS_DEC: Compass declination¶

An angle to compensate between the true north and magnetic north

Increment	Range	Units
0.01	-3.142 to 3.142	radians

COMPASS_LEARN: Learn compass offsets automatically¶

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
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 to 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 to 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)

Calibration	Increment	Range	Units
1	1	-1000 to 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. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

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 to 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 to 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

Calibration	Increment	Range	Units
1	1	-400 to 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 to 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 to 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)

Calibration	Increment	Range	Units
1	1	-1000 to 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 to 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 to 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

Calibration	Increment	Range	Units
1	1	-400 to 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 to 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 to 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)

Calibration	Increment	Range	Units
1	1	-1000 to 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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

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. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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 to 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 to 3000

COMPASS_DISBLMSK: 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	AK0991x
7	IST8310
8	ICM20948
9	MMC3416
11	DroneCAN
12	QMC5883
14	MAG3110
15	IST8308
16	RM3100
17	MSP
18	ExternalAHRS
19	MMC5XX3
20	QMC5883P
21	BMM350
22	IIS2MDC

COMPASS_FLTR_RNG: Range in which sample is accepted¶

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

Increment	Range	Units
1	0 to 100	percent

COMPASS_AUTO_ROT: Automatically check orientation¶

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

Values

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 to 1.3

COMPASS_SCALE2: Compass2 scale factor¶

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

Range
0 to 1.3

COMPASS_SCALE3: Compass3 scale factor¶

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

Range
0 to 1.3

COMPASS_OPTIONS: Compass options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask

Bit	Meaning
0	CalRequireGPS
1	Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)

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 to 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 to 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 to 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 to 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

DDS Parameters¶

DDS_ENABLE: DDS enable¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable DDS subsystem

Values

Value	Meaning
0	Disabled
1	Enabled

DDS_UDP_PORT: DDS UDP port¶

Note: Reboot required after change

UDP port number for DDS

Range
1 to 65535

DDS_DOMAIN_ID: DDS DOMAIN ID¶

Note: Reboot required after change

Set the ROS_DOMAIN_ID

Range
0 to 232

DDS_TIMEOUT_MS: DDS ping timeout¶

Note: Reboot required after change

The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.

Increment	Range	Units
1	1 to 10000	milliseconds

DDS_MAX_RETRY: DDS ping max attempts¶

Note: Reboot required after change

The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting. Set to 0 to allow unlimited retries.

Increment	Range
1	0 to 100

DDS_IP Parameters¶

DDS_IP0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

DDS_IP1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

DDS_IP2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

DDS_IP3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

DID_ Parameters¶

DID_ENABLE: Enable ODID subsystem¶

Enable ODID subsystem

Values

Value	Meaning
0	Disabled
1	Enabled

DID_MAVPORT: MAVLink serial port¶

Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.

Values

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

DID_CANDRIVER: DroneCAN driver number¶

DroneCAN driver index, 0 to disable DroneCAN

Values

Value	Meaning
0	Disabled
1	Driver1
2	Driver2

DID_OPTIONS: OpenDroneID options¶

Options for OpenDroneID subsystem

Bitmask

Bit	Meaning
0	EnforceArming
1	AllowNonGPSPosition
2	LockUASIDOnFirstBasicIDRx

DID_BARO_ACC: Barometer vertical accuraacy¶

Note: This parameter is for advanced users

Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default

Units
meters

EAHRS Parameters¶

EAHRS_TYPE: AHRS type¶

Type of AHRS device

Values

Value	Meaning
0	None
1	VectorNav
2	MicroStrain5
5	InertialLabs
7	MicroStrain7

EAHRS_RATE: AHRS data rate¶

Requested rate for AHRS device

Units
hertz

EAHRS_OPTIONS: External AHRS options¶

External AHRS options bitmask

Bitmask

Bit	Meaning
0	Vector Nav use uncompensated values for accel gyro and mag.

EAHRS_SENSORS: External AHRS sensors¶

Note: This parameter is for advanced users

External AHRS sensors bitmask

Bitmask

Bit	Meaning
0	GPS
1	IMU
2	Baro
3	Compass

EAHRS_LOG_RATE: AHRS logging rate¶

Logging rate for EARHS devices

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
4	Loweheiser
5	DroneCAN
6	Currawong-ECU
7	Scripting
8	Hirth
9	MAVLink

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 to 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 to 10

EFI_FUEL_DENS: ECU Fuel Density¶

Note: This parameter is for advanced users

Used to calculate fuel consumption

Range	Units
0 to 10000	kilograms per cubic meter

EFI_THRLIN Parameters¶

EFI_THRLIN_EN: Enable throttle linearisation¶

Note: This parameter is for advanced users

Enable EFI throttle linearisation

Values

Value	Meaning
0	Disabled
1	Enabled

EFI_THRLIN_COEF1: Throttle linearisation - First Order¶

Note: This parameter is for advanced users

Note: Reboot required after change

First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_COEF2: Throttle linearisation - Second Order¶

Note: This parameter is for advanced users

Note: Reboot required after change

Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_COEF3: Throttle linearisation - Third Order¶

Note: This parameter is for advanced users

Note: Reboot required after change

Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_OFS: throttle linearization offset¶

Note: This parameter is for advanced users

Note: Reboot required after change

Offset for throttle linearization

Range
0 to 100

EK2_ Parameters¶

EK2_ENABLE: Enable EKF2¶

Note: This parameter is for advanced users

Note: Reboot required after change

This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.

Values

Value	Meaning
0	Disabled
1	Enabled

EK2_GPS_TYPE: GPS mode control¶

Note: This parameter is for advanced users

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

Values

Value	Meaning
0	GPS 3D Vel and 2D Pos
1	GPS 2D vel and 2D pos
2	GPS 2D pos
3	No GPS

EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

EK2_VEL_I_GATE: GPS velocity innovation gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)¶

Note: This parameter is for advanced users

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_POS_I_GATE: GPS position measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_GLITCH_RAD: GPS glitch radius gate size (m)¶

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

Increment	Range	Units
5	10 to 100	meters

EK2_ALT_SOURCE: Primary altitude sensor source¶

Note: This parameter is for advanced users

Note: Reboot required after change

Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).

Values

Value	Meaning
0	Use Baro
1	Use Range Finder
2	Use GPS
3	Use Range Beacon

EK2_ALT_M_NSE: Altitude measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_HGT_I_GATE: Height measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_HGT_DELAY: Height measurement delay (msec)¶

Note: This parameter is for advanced users

Note: Reboot required after change

This is the number of msec that the Height measurements lag behind the inertial measurements.

Increment	Range	Units
10	0 to 250	milliseconds

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶

Note: This parameter is for advanced users

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

Increment	Range	Units
0.01	0.01 to 0.5	gauss

EK2_MAG_CAL: Magnetometer default fusion mode¶

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.

Values

Value	Meaning
0	When flying
1	When manoeuvring
2	Never
3	After first climb yaw reset
4	Always

EK2_MAG_I_GATE: Magnetometer measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK2_EAS_I_GATE: Airspeed measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_RNG_M_NSE: Range finder measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_RNG_I_GATE: Range finder measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_MAX_FLOW: Maximum valid optical flow rate¶

Note: This parameter is for advanced users

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

Increment	Range	Units
0.1	1.0 to 4.0	radians per second

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶

Note: This parameter is for advanced users

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

Increment	Range	Units
0.05	0.05 to 1.0	radians per second

EK2_FLOW_I_GATE: Optical Flow measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)¶

Note: This parameter is for advanced users

Note: Reboot required after change

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Increment	Range	Units
10	0 to 127	milliseconds

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)¶

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

Increment	Range	Units
0.0001	0.0001 to 0.1	radians per second

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)¶

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

Increment	Range	Units
0.01	0.01 to 1.0	meters per square second

EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

Range	Units
0.00001 to 0.001	radians per square second

EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)¶

Note: This parameter is for advanced users

This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.

Range	Units
0.000001 to 0.001	hertz

EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

Range	Units
0.00001 to 0.005	meters per cubic second

EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)¶

Note: This parameter is for advanced users

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

Increment	Range	Units
0.1	0.01 to 1.0	meters per square second

EK2_WIND_PSCALE: Height rate to wind process noise scaler¶

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

Increment	Range
0.1	0.0 to 1.0

EK2_GPS_CHECK: GPS preflight check¶

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

Bitmask

Bit	Meaning
0	NSats
1	HDoP
2	speed error
3	position error
4	yaw error
5	pos drift
6	vert speed
7	horiz speed

EK2_IMU_MASK: Bitmask of active IMUs¶

Note: This parameter is for advanced users

Note: Reboot required after change

1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.

Bitmask

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

EK2_CHECK_SCALE: GPS accuracy check scaler (%)¶

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

Range	Units
50 to 200	percent

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

Range	Units
0.5 to 50.0	meters

EK2_YAW_M_NSE: Yaw measurement noise (rad)¶

Note: This parameter is for advanced users

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

Increment	Range	Units
0.05	0.05 to 1.0	radians

EK2_YAW_I_GATE: Yaw measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶

Note: This parameter is for advanced users

Sets the time constant of the output complementary filter/predictor in centi-seconds.

Increment	Range	Units
5	10 to 50	centiseconds

EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶

Note: This parameter is for advanced users

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

Range	Units
0.00001 to 0.01	gauss per second

EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

Range	Units
0.00001 to 0.01	gauss per second

EK2_RNG_USE_HGT: Range finder switch height percentage¶

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND*_MAX). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

Increment	Range	Units
1	-1 to 70	percent

EK2_TERR_GRAD: Maximum terrain gradient¶

Note: This parameter is for advanced users

Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.

Increment	Range
0.01	0 to 0.2

EK2_BCN_M_NSE: Range beacon measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_BCN_I_GTE: Range beacon measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK2_BCN_DELAY: Range beacon measurement delay (msec)¶

Note: This parameter is for advanced users

Note: Reboot required after change

This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Increment	Range	Units
10	0 to 127	milliseconds

EK2_RNG_USE_SPD: Range finder max ground speed¶

Note: This parameter is for advanced users

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

Increment	Range	Units
0.5	2.0 to 6.0	meters per second

EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶

Note: This parameter is for advanced users

Note: Reboot required after change

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

Bitmask

Bit	Meaning
0	FirstEKF
1	SecondEKF
2	ThirdEKF
3	FourthEKF
4	FifthEKF
5	SixthEKF

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶

Note: This parameter is for advanced users

Note: Reboot required after change

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

Bitmask

Bit	Meaning
0	Correct when using Baro height
1	Correct when using range finder height
2	Apply corrections to local position

EK2_FLOW_USE: Optical flow use bitmask¶

Note: This parameter is for advanced users

Note: Reboot required after change

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

Values

Value	Meaning
0	None
1	Navigation
2	Terrain

EK2_MAG_EF_LIM: EarthField error limit¶

Note: This parameter is for advanced users

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

Range	Units
0 to 500	milligauss

EK2_HRT_FILT: Height rate filter crossover frequency¶

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

Range	Units
0.1 to 30.0	hertz

EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run¶

Note: This parameter is for advanced users

Note: Reboot required after change

A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.

Bitmask

Bit	Meaning
0	FirstEKF
1	SecondEKF
2	ThirdEKF
3	FourthEKF
4	FifthEKF
5	SixthEKF

EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used¶

Note: This parameter is for advanced users

Note: Reboot required after change

1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.

Bitmask

Bit	Meaning
0	FirstEKF
1	SecondEKF
2	ThirdEKF
3	FourthEKF
4	FifthEKF
5	SixthEKF

EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed¶

Note: This parameter is for advanced users

Note: Reboot required after change

Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.

Increment	Range
1	1 to 10

EK2_OPTIONS: Optional EKF behaviour¶

Note: This parameter is for advanced users

optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution

Bitmask

Bit	Meaning
0	DisableExternalNavigation

EK3_ Parameters¶

EK3_ENABLE: Enable EKF3¶

Note: This parameter is for advanced users

Note: Reboot required after change

This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.

Values

Value	Meaning
0	Disabled
1	Enabled

EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

EK3_VEL_I_GATE: GPS velocity innovation gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

Increment	Range
25	100 to 1000

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)¶

Note: This parameter is for advanced users

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_POS_I_GATE: GPS position measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.

Increment	Range
25	100 to 1000

EK3_GLITCH_RAD: GPS glitch radius gate size (m)¶

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.

Increment	Range	Units
5	10 to 100	meters

EK3_ALT_M_NSE: Altitude measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.

Increment	Range	Units
0.1	0.1 to 100.0	meters

EK3_HGT_I_GATE: Height measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.

Increment	Range
25	100 to 1000

EK3_HGT_DELAY: Height measurement delay (msec)¶

Note: This parameter is for advanced users

Note: Reboot required after change

This is the number of msec that the Height measurements lag behind the inertial measurements.

Increment	Range	Units
10	0 to 250	milliseconds

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶

Note: This parameter is for advanced users

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

Increment	Range	Units
0.01	0.01 to 0.5	gauss

EK3_MAG_CAL: Magnetometer default fusion mode¶

Note: This parameter is for advanced users

Note: Reboot required after change

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.

Values

Value	Meaning
0	When flying
1	When manoeuvring
2	Never
3	After first climb yaw reset
4	Always
5	Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)
6	External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)

EK3_MAG_I_GATE: Magnetometer measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK3_EAS_I_GATE: Airspeed measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK3_RNG_M_NSE: Range finder measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_RNG_I_GATE: Range finder measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK3_MAX_FLOW: Maximum valid optical flow rate¶

Note: This parameter is for advanced users

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

Increment	Range	Units
0.1	1.0 to 4.0	radians per second

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶

Note: This parameter is for advanced users

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

Increment	Range	Units
0.05	0.05 to 1.0	radians per second

EK3_FLOW_I_GATE: Optical Flow measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)¶

Note: This parameter is for advanced users

Note: Reboot required after change

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Increment	Range	Units
10	0 to 250	milliseconds

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)¶

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

Increment	Range	Units
0.0001	0.0001 to 0.1	radians per second

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)¶

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

Increment	Range	Units
0.01	0.01 to 1.0	meters per square second

EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

Range	Units
0.00001 to 0.001	radians per square second

EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

Range	Units
0.00001 to 0.02	meters per cubic second

EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)¶

Note: This parameter is for advanced users

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

Increment	Range	Units
0.1	0.01 to 2.0	meters per square second

EK3_WIND_PSCALE: Height rate to wind process noise scaler¶

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

Increment	Range
0.1	0.0 to 2.0

EK3_GPS_CHECK: GPS preflight check¶

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

Bitmask

Bit	Meaning
0	NSats
1	HDoP
2	speed error
3	position error
4	yaw error
5	pos drift
6	vert speed
7	horiz speed

EK3_IMU_MASK: Bitmask of active IMUs¶

Note: This parameter is for advanced users

Note: Reboot required after change

1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.

Bitmask

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

EK3_CHECK_SCALE: GPS accuracy check scaler (%)¶

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

Range	Units
50 to 200	percent

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

Range	Units
0.5 to 50.0	meters

EK3_BETA_MASK: Bitmask controlling sidelip angle fusion¶

Note: This parameter is for advanced users

Note: Reboot required after change

1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.

Bitmask

Bit	Meaning
0	Always
1	WhenNoYawSensor

EK3_YAW_M_NSE: Yaw measurement noise (rad)¶

Note: This parameter is for advanced users

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

Increment	Range	Units
0.05	0.05 to 1.0	radians

EK3_YAW_I_GATE: Yaw measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶

Note: This parameter is for advanced users

Sets the time constant of the output complementary filter/predictor in centi-seconds.

Increment	Range	Units
5	10 to 50	centiseconds

EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶

Note: This parameter is for advanced users

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

Range	Units
0.00001 to 0.01	gauss per second

EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

Range	Units
0.00001 to 0.01	gauss per second

EK3_RNG_USE_HGT: Range finder switch height percentage¶

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

Increment	Range	Units
1	-1 to 70	percent

EK3_TERR_GRAD: Maximum terrain gradient¶

Note: This parameter is for advanced users

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

Increment	Range
0.01	0 to 0.2

EK3_BCN_M_NSE: Range beacon measurement noise (m)¶

Note: This parameter is for advanced users

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_BCN_I_GTE: Range beacon measurement gate size¶

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment	Range
25	100 to 1000

EK3_BCN_DELAY: Range beacon measurement delay (msec)¶

Note: This parameter is for advanced users

Note: Reboot required after change

This is the number of msec that the range beacon measurements lag behind the inertial measurements.

Increment	Range	Units
10	0 to 250	milliseconds

EK3_RNG_USE_SPD: Range finder max ground speed¶

Note: This parameter is for advanced users

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

Increment	Range	Units
0.5	2.0 to 6.0	meters per second

EK3_ACC_BIAS_LIM: Accelerometer bias limit¶

Note: This parameter is for advanced users

The accelerometer bias state will be limited to +- this value

Increment	Range	Units
0.1	0.5 to 2.5	meters per square second

EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶

Note: This parameter is for advanced users

Note: Reboot required after change

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

Bitmask

Bit	Meaning
0	FirstEKF
1	SecondEKF
2	ThirdEKF
3	FourthEKF
4	FifthEKF
5	SixthEKF

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶

Note: This parameter is for advanced users

Note: Reboot required after change

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

Bitmask

Bit	Meaning
0	Correct when using Baro height
1	Correct when using range finder height
2	Apply corrections to local position

EK3_VIS_VERR_MIN: Visual odometry minimum velocity error¶

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

Increment	Range	Units
0.05	0.05 to 0.5	meters per second

EK3_VIS_VERR_MAX: Visual odometry maximum velocity error¶

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK3_WENC_VERR: Wheel odometry velocity error¶

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.

Increment	Range	Units
0.1	0.01 to 1.0	meters per second

EK3_FLOW_USE: Optical flow use bitmask¶

Note: This parameter is for advanced users

Note: Reboot required after change

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

Values

Value	Meaning
0	None
1	Navigation
2	Terrain

EK3_HRT_FILT: Height rate filter crossover frequency¶

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

Range	Units
0.1 to 30.0	hertz

EK3_MAG_EF_LIM: EarthField error limit¶

Note: This parameter is for advanced users

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

Range	Units
0 to 500	milligauss

EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run¶

Note: This parameter is for advanced users

Note: Reboot required after change

1 byte bitmap of which EKF3 instances run an independent EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.

Bitmask

Bit	Meaning
0	FirstEKF
1	SecondEKF
2	ThirdEKF
3	FourthEKF
4	FifthEKF
5	SixthEKF

EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used¶

Note: This parameter is for advanced users

Note: Reboot required after change

A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.

Bitmask

Bit	Meaning
0	FirstEKF
1	SecondEKF
2	ThirdEKF
3	FourthEKF
4	FifthEKF
5	SixthEKF

EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed¶

Note: This parameter is for advanced users

Note: Reboot required after change

Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.

Increment	Range
1	1 to 10

EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold¶

Note: This parameter is for advanced users

lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences

Increment	Range
0.05	0.05 to 1

EK3_AFFINITY: EKF3 Sensor Affinity Options¶

Note: This parameter is for advanced users

Note: Reboot required after change

These options control the affinity between sensor instances and EKF cores

Bitmask

Bit	Meaning
0	EnableGPSAffinity
1	EnableBaroAffinity
2	EnableCompassAffinity
3	EnableAirspeedAffinity

EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag¶

Note: This parameter is for advanced users

Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a positive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

Range	Units
0.0 to 1000.0	kilograms per square meter

EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag¶

Note: This parameter is for advanced users

Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a positive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_DRAG_MCOEF parameter.

Range	Units
50.0 to 1000.0	kilograms per square meter

EK3_DRAG_M_NSE: Observation noise for drag acceleration¶

Note: This parameter is for advanced users

This sets the amount of noise used when fusing X and Y acceleration as an observation that enables estimation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters

Increment	Range	Units
0.1	0.1 to 2.0	meters per square second

EK3_DRAG_MCOEF: Momentum coefficient for propeller drag¶

Note: This parameter is for advanced users

This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_DRAG_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a positive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.

Increment	Range	Units
0.01	0.0 to 1.0	per second

EK3_OGNM_TEST_SF: On ground not moving test scale factor¶

Note: This parameter is for advanced users

This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.

Increment	Range
0.5	1.0 to 10.0

EK3_GND_EFF_DZ: Baro height ground effect dead zone¶

Note: This parameter is for advanced users

This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.

Increment	Range
0.5	0.0 to 10.0

EK3_PRIMARY: Primary core number¶

Note: This parameter is for advanced users

The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.

Increment	Range
1	0 to 2

EK3_LOG_LEVEL: Logging Level¶

Note: This parameter is for advanced users

Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.

Increment	Range
1	0 to 3

EK3_GPS_VACC_MAX: GPS vertical accuracy threshold¶

Note: This parameter is for advanced users

Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.

Increment	Range	Units
0.1	0.0 to 10.0	meters

EK3_OPTIONS: Optional EKF behaviour¶

Note: This parameter is for advanced users

EKF optional behaviour. Bit 0 (JammingExpected): Setting JammingExpected will change the EKF behaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad position estimate. Bit 1 (Manual lane switching): DANGEROUS – If enabled, this disables automatic lane switching. If the active lane becomes unhealthy, no automatic switching will occur. Users must manually set EK3_PRIMARY to change lanes. No health checks will be performed on the selected lane. Use with extreme caution.

Bitmask

Bit	Meaning
0	JammingExpected
1	ManualLaneSwitching

EK3_SRC Parameters¶

EK3_SRC1_POSXY: Position Horizontal Source (Primary)¶

Note: This parameter is for advanced users

Position Horizontal Source (Primary)

Values

Value	Meaning
0	None
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC1_VELXY: Velocity Horizontal Source¶

Note: This parameter is for advanced users

Velocity Horizontal Source

Values

Value	Meaning
0	None
3	GPS
4	Beacon
5	OpticalFlow
6	ExternalNav
7	WheelEncoder

EK3_SRC1_POSZ: Position Vertical Source¶

Note: This parameter is for advanced users

Position Vertical Source

Values

Value	Meaning
0	None
1	Baro
2	RangeFinder
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC1_VELZ: Velocity Vertical Source¶

Note: This parameter is for advanced users

Velocity Vertical Source

Values

Value	Meaning
0	None
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC1_YAW: Yaw Source¶

Note: This parameter is for advanced users

Yaw Source

Values

Value	Meaning
0	None
1	Compass
2	GPS
3	GPS with Compass Fallback
6	ExternalNav
8	GSF

EK3_SRC2_POSXY: Position Horizontal Source (Secondary)¶

Note: This parameter is for advanced users

Position Horizontal Source (Secondary)

Values

Value	Meaning
0	None
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)¶

Note: This parameter is for advanced users

Velocity Horizontal Source (Secondary)

Values

Value	Meaning
0	None
3	GPS
4	Beacon
5	OpticalFlow
6	ExternalNav
7	WheelEncoder

EK3_SRC2_POSZ: Position Vertical Source (Secondary)¶

Note: This parameter is for advanced users

Position Vertical Source (Secondary)

Values

Value	Meaning
0	None
1	Baro
2	RangeFinder
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)¶

Note: This parameter is for advanced users

Velocity Vertical Source (Secondary)

Values

Value	Meaning
0	None
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC2_YAW: Yaw Source (Secondary)¶

Note: This parameter is for advanced users

Yaw Source (Secondary)

Values

Value	Meaning
0	None
1	Compass
2	GPS
3	GPS with Compass Fallback
6	ExternalNav
8	GSF

EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)¶

Note: This parameter is for advanced users

Position Horizontal Source (Tertiary)

Values

Value	Meaning
0	None
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)¶

Note: This parameter is for advanced users

Velocity Horizontal Source (Tertiary)

Values

Value	Meaning
0	None
3	GPS
4	Beacon
5	OpticalFlow
6	ExternalNav
7	WheelEncoder

EK3_SRC3_POSZ: Position Vertical Source (Tertiary)¶

Note: This parameter is for advanced users

Position Vertical Source (Tertiary)

Values

Value	Meaning
0	None
1	Baro
2	RangeFinder
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)¶

Note: This parameter is for advanced users

Velocity Vertical Source (Tertiary)

Values

Value	Meaning
0	None
3	GPS
4	Beacon
6	ExternalNav

EK3_SRC3_YAW: Yaw Source (Tertiary)¶

Note: This parameter is for advanced users

Yaw Source (Tertiary)

Values

Value	Meaning
0	None
1	Compass
2	GPS
3	GPS with Compass Fallback
6	ExternalNav
8	GSF

EK3_SRC_OPTIONS: EKF Source Options¶

Note: This parameter is for advanced users

EKF Source Options

Bitmask

Bit	Meaning
0	FuseAllVelocities
1	AlignExtNavPosWhenUsingOptFlow

ESC_TLM Parameters¶

ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset¶

Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets

Increment	Range
1	0 to 31

FENCE_ Parameters¶

FENCE_ENABLE: Fence enable/disable¶

Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.

Values

Value	Meaning
0	Disabled
1	Enabled

FENCE_ACTION: Fence Action¶

What action should be taken when fence is breached

Values

Value	Meaning
0	Report Only
1	RTL or Land

FENCE_RADIUS: Circular Fence Radius¶

Circle fence radius which when breached will cause an RTL

Range	Units
30 to 10000	meters

FENCE_MARGIN: Fence Margin¶

Distance that autopilot's should maintain from the fence to avoid a breach

Range	Units
1 to 10	meters

FENCE_TOTAL: Fence polygon point total¶

Number of polygon points saved in eeprom (do not update manually)

Range
1 to 20

FENCE_OPTIONS: Fence options¶

When bit 0 is set disable mode change following fence action until fence breach is cleared. When bit 1 is set the allowable flight areas is the union of all polygon and circle fence areas instead of the intersection, which means a fence breach occurs only if you are outside all of the fence areas.

Bitmask

Bit	Meaning
0	Disable mode change following fence action until fence breach is cleared
1	Allow union of inclusion areas
2	Notify on margin breaches

FENCE_NTF_FREQ: Fence margin notification frequency in hz¶

Note: This parameter is for advanced users

When bit 2 of FENCE_OPTIONS is set this parameter controls the frequency of margin breach notifications. If set to 0 only new margin breaches are notified.

Range	Units
0 to 10	hertz

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 to 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 to 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 to 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 to 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 to 0.9

FFT_FREQ_HOVER: FFT learned hover frequency¶

Note: This parameter is for advanced users

The learned hover noise frequency

Range
0 to 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 to 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 to 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 to 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 to 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 to 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

FFT_NUM_FRAMES: FFT output frames to retain and average¶

Note: This parameter is for advanced users

Note: Reboot required after change

Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.

Range
0 to 8

FFT_OPTIONS: FFT options¶

Note: This parameter is for advanced users

Note: Reboot required after change

FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference

Bitmask

Bit	Meaning
0	Enable post-filter FFT
1	Check motor noise

FILT1_ Parameters¶

FILT1_TYPE: Filter Type¶

Note: Reboot required after change

Filter Type

Values

Value	Meaning
0	Disable
1	Notch Filter

FILT1_NOTCH_FREQ: Notch Filter center frequency¶

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT1_NOTCH_Q: Notch Filter quality factor¶

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT1_NOTCH_ATT: Notch Filter attenuation¶

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT2_ Parameters¶

FILT2_TYPE: Filter Type¶

Note: Reboot required after change

Filter Type

Values

Value	Meaning
0	Disable
1	Notch Filter

FILT2_NOTCH_FREQ: Notch Filter center frequency¶

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT2_NOTCH_Q: Notch Filter quality factor¶

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT2_NOTCH_ATT: Notch Filter attenuation¶

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT3_ Parameters¶

FILT3_TYPE: Filter Type¶

Note: Reboot required after change

Filter Type

Values

Value	Meaning
0	Disable
1	Notch Filter

FILT3_NOTCH_FREQ: Notch Filter center frequency¶

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT3_NOTCH_Q: Notch Filter quality factor¶

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT3_NOTCH_ATT: Notch Filter attenuation¶

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT4_ Parameters¶

FILT4_TYPE: Filter Type¶

Note: Reboot required after change

Filter Type

Values

Value	Meaning
0	Disable
1	Notch Filter

FILT4_NOTCH_FREQ: Notch Filter center frequency¶

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT4_NOTCH_Q: Notch Filter quality factor¶

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT4_NOTCH_ATT: Notch Filter attenuation¶

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT5_ Parameters¶

FILT5_TYPE: Filter Type¶

Note: Reboot required after change

Filter Type

Values

Value	Meaning
0	Disable
1	Notch Filter

FILT5_NOTCH_FREQ: Notch Filter center frequency¶

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT5_NOTCH_Q: Notch Filter quality factor¶

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT5_NOTCH_ATT: Notch Filter attenuation¶

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT6_ Parameters¶

FILT6_TYPE: Filter Type¶

Note: Reboot required after change

Filter Type

Values

Value	Meaning
0	Disable
1	Notch Filter

FILT6_NOTCH_FREQ: Notch Filter center frequency¶

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT6_NOTCH_Q: Notch Filter quality factor¶

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT6_NOTCH_ATT: Notch Filter attenuation¶

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT7_ Parameters¶

FILT7_TYPE: Filter Type¶

Note: Reboot required after change

Filter Type

Values

Value	Meaning
0	Disable
1	Notch Filter

FILT7_NOTCH_FREQ: Notch Filter center frequency¶

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT7_NOTCH_Q: Notch Filter quality factor¶

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT7_NOTCH_ATT: Notch Filter attenuation¶

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

FILT8_ Parameters¶

FILT8_TYPE: Filter Type¶

Note: Reboot required after change

Filter Type

Values

Value	Meaning
0	Disable
1	Notch Filter

FILT8_NOTCH_FREQ: Notch Filter center frequency¶

Note: This parameter is for advanced users

Notch Filter center frequency in Hz.

Range	Units
10 to 495	hertz

FILT8_NOTCH_Q: Notch Filter quality factor¶

Note: This parameter is for advanced users

Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.

Range
1 to 10

FILT8_NOTCH_ATT: Notch Filter attenuation¶

Note: This parameter is for advanced users

Notch Filter attenuation in dB.

Range	Units
5 to 50	decibel

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
4	Loweheiser

GEN_OPTIONS: Generator Options¶

Bitmask of options for generators

Bitmask

Bit	Meaning
0	Suppress Maintenance-Required Warnings

GPS Parameters¶

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_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 to 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_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_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_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_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
4	Use ellipsoid height instead of AMSL
5	Override GPS satellite health of L5 band from L1 health
6	Enable RTCM full parse even for a single channel
7	Disable automatic full RTCM parsing when RTCM seen on more than one channel

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

GPS1_ Parameters¶

GPS1_TYPE: GPS type¶

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type

Values

Value	Meaning
0	None
1	AUTO
2	uBlox
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	DroneCAN
10	Septentrio(SBF)
11	Trimble(GSOF)
13	ERB
14	MAVLink
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
24	UnicoreNMEA
25	UnicoreMovingBaselineNMEA
26	Septentrio-DualAntenna(SBF)

GPS1_GNSS_MODE: GNSS system configuration¶

Note: This parameter is for advanced users

Bitmask for what GNSS system to use (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

GPS1_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 to 200

milliseconds

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

GPS1_POS_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 to 5	meters

GPS1_POS_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 to 5	meters

GPS1_POS_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 to 5	meters

GPS1_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 to 250	milliseconds

GPS1_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 and GSOF GPS

Increment

Range

Values

1

0 to 10

Value	Meaning
0	COM1(RS232) on GSOF
1	COM2(TTL) on GSOF

GPS1_CAN_NODEID: Detected CAN Node ID for GPS¶

Note: This parameter is for advanced users

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

ReadOnly
True

GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID¶

Note: This parameter is for advanced users

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

GPS1_MB_ Parameters¶

GPS1_MB_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.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Values

Value	Meaning
0	Relative to alternate GPS instance
1	RelativeToCustomBase

GPS1_MB_OFS_X: Base antenna X position offset¶

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_MB_OFS_Y: Base antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_MB_OFS_Z: Base antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_ Parameters¶

GPS2_TYPE: GPS type¶

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type

Values

Value	Meaning
0	None
1	AUTO
2	uBlox
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	DroneCAN
10	Septentrio(SBF)
11	Trimble(GSOF)
13	ERB
14	MAVLink
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
24	UnicoreNMEA
25	UnicoreMovingBaselineNMEA
26	Septentrio-DualAntenna(SBF)

GPS2_GNSS_MODE: GNSS system configuration¶

Note: This parameter is for advanced users

Bitmask for what GNSS system to use (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

GPS2_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 to 200

milliseconds

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

GPS2_POS_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 to 5	meters

GPS2_POS_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 to 5	meters

GPS2_POS_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 to 5	meters

GPS2_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 to 250	milliseconds

GPS2_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 and GSOF GPS

Increment

Range

Values

1

0 to 10

Value	Meaning
0	COM1(RS232) on GSOF
1	COM2(TTL) on GSOF

GPS2_CAN_NODEID: Detected CAN Node ID for GPS¶

Note: This parameter is for advanced users

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

ReadOnly
True

GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID¶

Note: This parameter is for advanced users

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

GPS2_MB_ Parameters¶

GPS2_MB_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.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Values

Value	Meaning
0	Relative to alternate GPS instance
1	RelativeToCustomBase

GPS2_MB_OFS_X: Base antenna X position offset¶

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_MB_OFS_Y: Base antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_MB_OFS_Z: Base antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

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.This is renamed in 4.6 and later to GPSx_MB_TYPE.

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 (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB1_OFS_Y: Base antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB1_OFS_Z: Base antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 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.This is renamed in 4.6 and later to GPSx_MB_TYPE.

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 (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB2_OFS_Y: Base antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB2_OFS_Z: Base antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

GRIP_ Parameters¶

GRIP_ENABLE: Gripper Enable/Disable¶

Gripper enable/disable

Values

Value	Meaning
0	Disabled
1	Enabled

GRIP_TYPE: Gripper Type¶

Gripper enable/disable

Values

Value	Meaning
0	None
1	Servo
2	EPM

GRIP_GRAB: Gripper Grab PWM¶

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

Range	Units
1000 to 2000	PWM in microseconds

GRIP_RELEASE: Gripper Release PWM¶

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range	Units
1000 to 2000	PWM in microseconds

GRIP_NEUTRAL: Neutral PWM¶

Note: This parameter is for advanced users

PWM value in microseconds sent to grabber when not grabbing or releasing

Range	Units
1000 to 2000	PWM in microseconds

GRIP_REGRAB: EPM Gripper Regrab interval¶

Note: This parameter is for advanced users

Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

Range	Units
0 to 255	seconds

GRIP_CAN_ID: EPM UAVCAN Hardpoint ID¶

Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

Range
0 to 255

GRIP_AUTOCLOSE: Gripper Autoclose time¶

Note: This parameter is for advanced users

Time in seconds that gripper close the gripper after opening; 0 to disable

Range	Units
0.25 to 255	seconds

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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.

Bitmask

Bit	Meaning
0	PersistTemps
1	PersistAccels

INS_RAW_LOG_OPT: Raw logging options¶

Note: This parameter is for advanced users

Raw logging options bitmask

Bitmask

Bit	Meaning
0	Log primary gyro only
1	Log all gyros
2	Post filter
3	Pre and post filter

INS4_ Parameters¶

INS4_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

INS4_ACC_ID: Accelerometer ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS4_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 to 1.2

INS4_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 to 1.2

INS4_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 to 1.2

INS4_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 to 3.5	meters per square second

INS4_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 to 3.5	meters per square second

INS4_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 to 3.5	meters per square second

INS4_POS_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 to 5	meters

INS4_POS_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 to 5	meters

INS4_POS_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 to 5	meters

INS4_ACC_CALTEMP: Calibration temperature for accelerometer¶

Note: This parameter is for advanced users

Temperature that the accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS4_GYR_ID: Gyro ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS4_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

INS4_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

INS4_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

INS4_GYR_CALTEMP: Calibration temperature for gyroscope¶

Note: This parameter is for advanced users

Temperature that the gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS4_TCAL_ Parameters¶

INS4_TCAL_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

INS4_TCAL_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 to 80	degrees Celsius

INS4_TCAL_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 to 80	degrees Celsius

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS4_TCAL_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

INS5_ Parameters¶

INS5_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

INS5_ACC_ID: Accelerometer ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS5_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 to 1.2

INS5_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 to 1.2

INS5_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 to 1.2

INS5_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 to 3.5	meters per square second

INS5_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 to 3.5	meters per square second

INS5_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 to 3.5	meters per square second

INS5_POS_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 to 5	meters

INS5_POS_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 to 5	meters

INS5_POS_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 to 5	meters

INS5_ACC_CALTEMP: Calibration temperature for accelerometer¶

Note: This parameter is for advanced users

Temperature that the accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS5_GYR_ID: Gyro ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

INS5_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

INS5_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

INS5_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

INS5_GYR_CALTEMP: Calibration temperature for gyroscope¶

Note: This parameter is for advanced users

Temperature that the gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS5_TCAL_ Parameters¶

INS5_TCAL_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

INS5_TCAL_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 to 80	degrees Celsius

INS5_TCAL_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 to 80	degrees Celsius

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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

INS5_TCAL_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_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 is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 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 to 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 to 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 harmonic
4	5th harmonic
5	6th harmonic
6	7th harmonic
7	8th harmonic
8	9th harmonic
9	10th harmonic
10	11th harmonic
11	12th harmonic
12	13th harmonic
13	14th harmonic
14	15th harmonic
15	16th 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 to 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 harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range

Values

0 to 5

Value	Meaning
0	Fixed
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. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

Bitmask

Bit	Meaning
0	Double notch
1	Multi-Source
2	Update at loop rate
3	EnableOnAllIMUs
4	Triple notch
5	Use min freq on RPM source failure

INS_HNTC2_FM_RAT: Throttle notch min frequency ratio¶

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_HNTC3_ Parameters¶

INS_HNTC3_ENABLE: Harmonic Notch Filter enable¶

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values

Value	Meaning
0	Disabled
1	Enabled

INS_HNTC3_FREQ: Harmonic Notch Filter base frequency¶

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 495	hertz

INS_HNTC3_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 to 250	hertz

INS_HNTC3_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 to 50	decibel

INS_HNTC3_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 harmonic
4	5th harmonic
5	6th harmonic
6	7th harmonic
7	8th harmonic
8	9th harmonic
9	10th harmonic
10	11th harmonic
11	12th harmonic
12	13th harmonic
13	14th harmonic
14	15th harmonic
15	16th harmonic

INS_HNTC3_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 to 1.0

INS_HNTC3_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 harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range

Values

0 to 5

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

INS_HNTC3_OPTS: Harmonic Notch Filter options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

Bitmask

Bit	Meaning
0	Double notch
1	Multi-Source
2	Update at loop rate
3	EnableOnAllIMUs
4	Triple notch
5	Use min freq on RPM source failure

INS_HNTC3_FM_RAT: Throttle notch min frequency ratio¶

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_HNTC4_ Parameters¶

INS_HNTC4_ENABLE: Harmonic Notch Filter enable¶

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values

Value	Meaning
0	Disabled
1	Enabled

INS_HNTC4_FREQ: Harmonic Notch Filter base frequency¶

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 495	hertz

INS_HNTC4_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 to 250	hertz

INS_HNTC4_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 to 50	decibel

INS_HNTC4_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 harmonic
4	5th harmonic
5	6th harmonic
6	7th harmonic
7	8th harmonic
8	9th harmonic
9	10th harmonic
10	11th harmonic
11	12th harmonic
12	13th harmonic
13	14th harmonic
14	15th harmonic
15	16th harmonic

INS_HNTC4_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 to 1.0

INS_HNTC4_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 harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range

Values

0 to 5

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

INS_HNTC4_OPTS: Harmonic Notch Filter options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

Bitmask

Bit	Meaning
0	Double notch
1	Multi-Source
2	Update at loop rate
3	EnableOnAllIMUs
4	Triple notch
5	Use min freq on RPM source failure

INS_HNTC4_FM_RAT: Throttle notch min frequency ratio¶

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_HNTCH_ Parameters¶

INS_HNTCH_ENABLE: Harmonic Notch Filter enable¶

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 is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 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 to 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 to 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 harmonic
4	5th harmonic
5	6th harmonic
6	7th harmonic
7	8th harmonic
8	9th harmonic
9	10th harmonic
10	11th harmonic
11	12th harmonic
12	13th harmonic
13	14th harmonic
14	15th harmonic
15	16th 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 to 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 harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range

Values

0 to 5

Value	Meaning
0	Fixed
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. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.

Bitmask

Bit	Meaning
0	Double notch
1	Multi-Source
2	Update at loop rate
3	EnableOnAllIMUs
4	Triple notch
5	Use min freq on RPM source failure

INS_HNTCH_FM_RAT: Throttle notch min frequency ratio¶

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_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.

Bitmask

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

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 to 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 to 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 to 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 to 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 to 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 to 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

KDE_ Parameters¶

KDE_NPOLE: Number of motor poles¶

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

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: Logging File and Block Backend buffer size max (in kibibytes)¶

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 but increases memory usage. This buffer size may be reduced to free up available memory

Range	Units
4 to 200	kibibytes

LOG_DISARMED: Enable logging while disarmed¶

If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.

Values

Value	Meaning
0	Disabled
1	Enabled
2	Disabled on USB connection
3	Discard log on reboot if never armed

LOG_REPLAY: Enable logging of information needed for Replay¶

If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. 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
2 to 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.

Increment	Range	Units
0.1	0 to 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.

Increment	Range	Units
0.1	0 to 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 block backend. A value of zero means that rate limiting is disabled.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_DARM_RATEMAX: Maximum logging rate when disarmed¶

This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_MAX_FILES: Maximum number of log files¶

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.

Increment	Range
1	2 to 500

MAV Parameters¶

MAV_SYSID: MAVLink system ID of this vehicle¶

Note: This parameter is for advanced users

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

Range
1 to 255

MAV_GCS_SYSID: My ground station number¶

Note: This parameter is for advanced users

This controls whether packets from other than the expected GCS system ID will be accepted

Increment	Range
1	1 to 255

MAV_OPTIONS: MAVLink Options¶

Note: This parameter is for advanced users

Alters various behaviour of the MAVLink interface

Bitmask

Bit	Meaning
0	Accept MAVLink only from SYSID_GCS

MAV_TELEM_DELAY: Telemetry startup delay¶

Note: This parameter is for advanced users

The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up

Increment	Range	Units
1	0 to 30	seconds

MAV1 Parameters¶

MAV1_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV1_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV1_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV1_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV1_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV1_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV1_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV1_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV1_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV1_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV1_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV10 Parameters¶

MAV10_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV10_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV10_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV10_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV10_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV10_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV10_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV10_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV10_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV10_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV10_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV2 Parameters¶

MAV2_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV2_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV2_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV2_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV2_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV2_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV2_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV2_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV2_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV2_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV2_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV3 Parameters¶

MAV3_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV3_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV3_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV3_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV3_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV3_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV3_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV3_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV3_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV3_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV3_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV4 Parameters¶

MAV4_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV4_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV4_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV4_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV4_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV4_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV4_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV4_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV4_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV4_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV4_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV5 Parameters¶

MAV5_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV5_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV5_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV5_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV5_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV5_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV5_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV5_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV5_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV5_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV5_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV6 Parameters¶

MAV6_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV6_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV6_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV6_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV6_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV6_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV6_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV6_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV6_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV6_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV6_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV7 Parameters¶

MAV7_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV7_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV7_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV7_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV7_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV7_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV7_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV7_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV7_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV7_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV7_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV8 Parameters¶

MAV8_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV8_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV8_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV8_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV8_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV8_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV8_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV8_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV8_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV8_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV8_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

MAV9 Parameters¶

MAV9_RAW_SENS: Raw sensor stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV9_EXT_STAT: Extended status stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

MAV9_RC_CHAN: RC Channel stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

MAV9_RAW_CTRL: Raw Control stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV9_POSITION: Position stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

MAV9_EXTRA1: Extra data type 1 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV9_EXTRA2: Extra data type 2 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range
1	0 to 50

MAV9_EXTRA3: Extra data type 3 stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV9_PARAMS: Parameter stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

MAV9_ADSB: ADSB stream rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

MAV9_OPTIONS: Bitmask for configuring this telemetry channel¶

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask

Bit	Meaning
1	Don’t forward mavlink to/from
2	Ignore Streamrate

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: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts. EnableINAVFonts uses INAV fonts and overrides EnableBTFLFonts if that option is enabled.

Bitmask

Bit	Meaning
0	EnableTelemetryMode
1	unused
2	EnableBTFLFonts
3	EnableINAVFonts

NET_ Parameters¶

NET_ENABLE: Networking Enable¶

Note: This parameter is for advanced users

Note: Reboot required after change

Networking Enable

Values

Value	Meaning
0	Disable
1	Enable

NET_NETMASK: IP Subnet mask¶

Note: This parameter is for advanced users

Note: Reboot required after change

Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0

Range
0 to 32

NET_DHCP: DHCP client¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable/Disable DHCP client

Values

Value	Meaning
0	Disable
1	Enable

NET_TESTS: Test enable flags¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable/Disable networking tests

Bitmask

Bit	Meaning
0	UDP echo test
1	TCP echo test
2	TCP discard test
3	TCP reflect test

NET_OPTIONS: Networking options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Networking options

Bitmask

Bit	Meaning
0	EnablePPP Ethernet gateway
1	Enable CAN1 multicast endpoint
2	Enable CAN2 multicast endpoint
3	Enable CAN1 multicast bridged
4	Enable CAN2 multicast bridged

NET_GWADDR Parameters¶

NET_GWADDR0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_GWADDR1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_GWADDR2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_GWADDR3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_IPADDR Parameters¶

NET_IPADDR0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_IPADDR1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_IPADDR2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_IPADDR3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_MACADDR Parameters¶

NET_MACADDR0: MAC Address 1st byte¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 1st byte

Range
0 to 255

NET_MACADDR1: MAC Address 2nd byte¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 2nd byte

Range
0 to 255

NET_MACADDR2: MAC Address 3rd byte¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 3rd byte

Range
0 to 255

NET_MACADDR3: MAC Address 4th byte¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 4th byte

Range
0 to 255

NET_MACADDR4: MAC Address 5th byte¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 5th byte

Range
0 to 255

NET_MACADDR5: MAC Address 6th byte¶

Note: This parameter is for advanced users

Note: Reboot required after change

MAC address 6th byte

Range
0 to 255

NET_P1_ Parameters¶

NET_P1_TYPE: Port type¶

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values

Value	Meaning
0	Disabled
1	UDP client
2	UDP server
3	TCP client
4	TCP server

NET_P1_PROTOCOL: Protocol¶

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

NET_P1_PORT: Port number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P1_IP Parameters¶

NET_P1_IP0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P1_IP1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P1_IP2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P1_IP3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P2_ Parameters¶

NET_P2_TYPE: Port type¶

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values

Value	Meaning
0	Disabled
1	UDP client
2	UDP server
3	TCP client
4	TCP server

NET_P2_PROTOCOL: Protocol¶

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

NET_P2_PORT: Port number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P2_IP Parameters¶

NET_P2_IP0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P2_IP1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P2_IP2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P2_IP3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P3_ Parameters¶

NET_P3_TYPE: Port type¶

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values

Value	Meaning
0	Disabled
1	UDP client
2	UDP server
3	TCP client
4	TCP server

NET_P3_PROTOCOL: Protocol¶

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

NET_P3_PORT: Port number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P3_IP Parameters¶

NET_P3_IP0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P3_IP1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P3_IP2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P3_IP3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P4_ Parameters¶

NET_P4_TYPE: Port type¶

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values

Value	Meaning
0	Disabled
1	UDP client
2	UDP server
3	TCP client
4	TCP server

NET_P4_PROTOCOL: Protocol¶

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

NET_P4_PORT: Port number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P4_IP Parameters¶

NET_P4_IP0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P4_IP1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P4_IP2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P4_IP3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_REMPPP_IP Parameters¶

NET_REMPPP_IP0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_REMPPP_IP1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_REMPPP_IP2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_REMPPP_IP3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_TEST_IP Parameters¶

NET_TEST_IP0: IPv4 Address 1st byte¶

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_TEST_IP1: IPv4 Address 2nd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_TEST_IP2: IPv4 Address 3rd byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_TEST_IP3: IPv4 Address 4th byte¶

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NMEA_ Parameters¶

NMEA_RATE_MS: NMEA Output rate¶

NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.

Increment	Range	Units
1	20 to 2000	milliseconds

NMEA_MSG_EN: Messages Enable bitmask¶

This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval

Bitmask

Bit	Meaning
0	GPGGA
1	GPRMC
2	PASHR

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
-1	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
13	LP5562 External
14	LP5562 Internal
15	IS31FL3195 External
16	IS31FL3195 Internal
17	DiscreteRGB
18	NeoPixelRGB
19	ProfiLED_IOMCU

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 to 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 to 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 to 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	Use Link Quality for RSSI with CRSF
12	Annotate CRSF flight mode with * on disarm
13	Use 420kbaud for ELRS protocol

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
14	DroneCAN
15	Ghost
16	MAVRadio

RC_FS_TIMEOUT: RC Failsafe timeout¶

RC failsafe will trigger this many seconds after loss of RC

Range	Units
0.5 to 10.0	seconds

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC10_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC11_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC12_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC13_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC14_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC15_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC16_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC1_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC2_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC3_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC4_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC5_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC6_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC7_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC8_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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 to 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 to 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 to 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 to 200	PWM in microseconds

RC9_OPTION: RC input option¶

Function assigned to this RC channel

Values

Value	Meaning
103	EKF lane switch attempt
104	EKF yaw reset
112	SwitchExternalAHRS

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.

Range	Units
50 to 400	hertz

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 to 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 to 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
4	Disable pre-arm check
5	Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm
6	Disable heap expansion on allocation failure

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

SCR_LD_CHECKSUM: Loaded script checksum¶

Note: This parameter is for advanced users

Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables

SCR_RUN_CHECKSUM: Running script checksum¶

Note: This parameter is for advanced users

Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables

SCR_THD_PRIORITY: Scripting thread priority¶

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.

Values

Value	Meaning
0	Normal
1	IO Priority
2	Storage Priority
3	UART Priority
4	I2C Priority
5	SPI Priority
6	Timer Priority
7	Main Priority
8	Boost Priority

SCR_SDEV_EN: Scripting serial device enable¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable scripting serial devices

Values

Value	Meaning
0	Disabled
1	Enabled

SCR_SDEV1_PROTO: Serial protocol of scripting serial device¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SCR_SDEV2_PROTO: Serial protocol of scripting serial device¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SCR_SDEV3_PROTO: Serial protocol of scripting serial device¶

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL0_PROTOCOL: Console protocol selection¶

Note: Reboot required after change

Control what protocol to use on the console.

Values

Value	Meaning
1	MAVLink1
2	MAVLink2

SERIAL1_PROTOCOL: Telem1 protocol selection¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL1_BAUD: Telem1 Baud Rate¶

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

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL2_PROTOCOL: Telemetry 2 protocol selection¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL2_BAUD: Telemetry 2 Baud Rate¶

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

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL3_BAUD: Serial 3 (GPS) Baud Rate¶

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

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL4_PROTOCOL: Serial4 protocol selection¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL4_BAUD: Serial 4 Baud Rate¶

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

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL5_PROTOCOL: Serial5 protocol selection¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL5_BAUD: Serial 5 Baud Rate¶

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

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL6_PROTOCOL: Serial6 protocol selection¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL6_BAUD: Serial 6 Baud Rate¶

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

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL1_OPTIONS: Telem1 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL2_OPTIONS: Telem2 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL3_OPTIONS: Serial3 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL4_OPTIONS: Serial4 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL5_OPTIONS: Serial5 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL6_OPTIONS: Serial6 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL_PASS1: Serial passthru first port¶

Note: This parameter is for advanced users

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

Values

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

SERIAL_PASS2: Serial passthru second port¶

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port. This parameter is normally reset to -1 on reboot, disabling passthrough. If SERIAL_PASSTIMO is set to -1 then it is not reset on reboot.

Values

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

SERIAL_PASSTIMO: Serial passthru timeout¶

Note: This parameter is for advanced users

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout. A value of -1 means no timeout and the SERIAL_PASS2 parameter is not reset on reboot.

Range	Units
-1 to 120	seconds

SERIAL7_PROTOCOL: Serial7 protocol selection¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL7_BAUD: Serial 7 Baud Rate¶

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

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL7_OPTIONS: Serial7 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL8_PROTOCOL: Serial8 protocol selection¶

Note: Reboot required after change

Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL8_BAUD: Serial 8 Baud Rate¶

The baud rate used for Serial8. 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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL8_OPTIONS: Serial8 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERIAL9_PROTOCOL: Serial9 protocol selection¶

Note: Reboot required after change

Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	Gimbal
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	EFI Serial
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
38	FETtecOneWire
39	Torqeedo
40	AIS
41	CoDevESC
42	DisplayPort
43	MAVLink High Latency
44	IRC Tramp
45	DDS XRCE
46	IMUDATA
48	PPP
49	i-BUS Telemetry
50	IOMCU

SERIAL9_BAUD: Serial 9 Baud Rate¶

The baud rate used for Serial8. 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	1.5MBaud
2000	2MBaud
12500000	12.5MBaud

SERIAL9_OPTIONS: Serial9 options¶

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

Bitmask

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	SwapTXRX
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from (moved to MAVn_OPTIONS >4.7)
11	DisableFIFO
12	Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

SERVO Parameters¶

SERVO_RATE: Servo default output rate¶

Note: This parameter is for advanced users

Default output rate in Hz for all PWM outputs.

Range	Units
25 to 400	hertz

SERVO_DSHOT_RATE: Servo DShot output rate¶

Note: This parameter is for advanced users

DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.

Values

Value	Meaning
0	1Khz
1	loop-rate
2	double loop-rate
3	triple loop-rate
4	quadruple loop rate

SERVO_DSHOT_ESC: Servo DShot ESC type¶

Note: This parameter is for advanced users

DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.

Values

Value	Meaning
0	None
1	BLHeli32/Kiss/AM32
2	BLHeli_S/BlueJay
3	BLHeli32/AM32/Kiss+EDT
4	BLHeli_S/BlueJay+EDT

SERVO_GPIO_MASK: Servo GPIO mask¶

Note: This parameter is for advanced users

Note: Reboot required after change

Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin

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
16	Servo 17
17	Servo 18
18	Servo 19
19	Servo 20
20	Servo 21
21	Servo 22
22	Servo 23
23	Servo 24
24	Servo 25
25	Servo 26
26	Servo 27
27	Servo 28
28	Servo 29
29	Servo 30
30	Servo 31
31	Servo 32

SERVO_RC_FS_MSK: Servo RC Failsafe Mask¶

Note: This parameter is for advanced users

Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.

Bitmask

Bit	Meaning
0	RCIN1Scaled
1	RCIN2Scaled
2	RCIN3Scaled
3	RCIN4Scaled
4	RCIN5Scaled
5	RCIN6Scaled
6	RCIN7Scaled
7	RCIN8Scaled
8	RCIN9Scaled
9	RCIN10Scaled
10	RCIN11Scaled
11	SRCIN12Scaled
12	RCIN13Scaled
13	RCIN14Scaled
14	RCIN15Scaled
15	RCIN16Scaled

SERVO_32_ENABLE: Enable outputs 17 to 31¶

Note: This parameter is for advanced users

This allows for up to 32 outputs, enabling parameters for outputs above 16

Values

Value	Meaning
0	Disabled
1	Enabled

SERVO10_ Parameters¶

SERVO10_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO10_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO10_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO10_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO10_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO11_ Parameters¶

SERVO11_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO11_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO11_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO11_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO11_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO12_ Parameters¶

SERVO12_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO12_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO12_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO12_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO12_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO13_ Parameters¶

SERVO13_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO13_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO13_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO13_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO13_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO14_ Parameters¶

SERVO14_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO14_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO14_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO14_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO14_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO15_ Parameters¶

SERVO15_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO15_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO15_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO15_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO15_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO16_ Parameters¶

SERVO16_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO16_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO16_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO16_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO16_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO17_ Parameters¶

SERVO17_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO17_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO17_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO17_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO17_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO18_ Parameters¶

SERVO18_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO18_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO18_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO18_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO18_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO19_ Parameters¶

SERVO19_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO19_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO19_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO19_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO19_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO1_ Parameters¶

SERVO1_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO1_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO1_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO1_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO1_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO20_ Parameters¶

SERVO20_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO20_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO20_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO20_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO20_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO21_ Parameters¶

SERVO21_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO21_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO21_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO21_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO21_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO22_ Parameters¶

SERVO22_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO22_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO22_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO22_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO22_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO23_ Parameters¶

SERVO23_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO23_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO23_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO23_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO23_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO24_ Parameters¶

SERVO24_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO24_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO24_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO24_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO24_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO25_ Parameters¶

SERVO25_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO25_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO25_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO25_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO25_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO26_ Parameters¶

SERVO26_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO26_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO26_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO26_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO26_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO27_ Parameters¶

SERVO27_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO27_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO27_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO27_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO27_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO28_ Parameters¶

SERVO28_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO28_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO28_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO28_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO28_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO29_ Parameters¶

SERVO29_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO29_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO29_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO29_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO29_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO2_ Parameters¶

SERVO2_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO2_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO2_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO2_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO2_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO30_ Parameters¶

SERVO30_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO30_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO30_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO30_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO30_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO31_ Parameters¶

SERVO31_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO31_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO31_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO31_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO31_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO32_ Parameters¶

SERVO32_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO32_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO32_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO32_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO32_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO3_ Parameters¶

SERVO3_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO3_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO3_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO3_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO3_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO4_ Parameters¶

SERVO4_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO4_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO4_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO4_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO4_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO5_ Parameters¶

SERVO5_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO5_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO5_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO5_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO5_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO6_ Parameters¶

SERVO6_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO6_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO6_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO6_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO6_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO7_ Parameters¶

SERVO7_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO7_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO7_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO7_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO7_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO8_ Parameters¶

SERVO8_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO8_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO8_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO8_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO8_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO9_ Parameters¶

SERVO9_MIN: Minimum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO9_MAX: Maximum PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO9_TRIM: Trim PWM¶

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

Increment	Range	Units
1	800 to 2200	PWM in microseconds

SERVO9_REVERSED: Servo reverse¶

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

Values

Value	Meaning
0	Normal
1	Reversed

SERVO9_FUNCTION: Servo output function¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	Mount1Yaw
7	Mount1Pitch
8	Mount1Roll
9	Mount1Retract
10	CameraTrigger
12	Mount2Yaw
13	Mount2Pitch
14	Mount2Roll
15	Mount2Retract
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation
138	Alarm
139	Alarm Inverted
140	RCIN1Scaled
141	RCIN2Scaled
142	RCIN3Scaled
143	RCIN4Scaled
144	RCIN5Scaled
145	RCIN6Scaled
146	RCIN7Scaled
147	RCIN8Scaled
148	RCIN9Scaled
149	RCIN10Scaled
150	RCIN11Scaled
151	RCIN12Scaled
152	RCIN13Scaled
153	RCIN14Scaled
154	RCIN15Scaled
155	RCIN16Scaled
180	CameraZoom

SERVO_BLH_ Parameters¶

SERVO_BLH_MASK: BLHeli Channel Bitmask¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16
16	Channel 17
17	Channel 18
18	Channel 19
19	Channel 20
20	Channel 21
21	Channel 22
22	Channel 23
23	Channel 24
24	Channel 25
25	Channel 26
26	Channel 27
27	Channel 28
28	Channel 29
29	Channel 30
30	Channel 31
31	Channel 32

SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors¶

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	Enabled

SERVO_BLH_TEST: BLHeli internal interface test¶

Note: This parameter is for advanced users

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

Values

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

SERVO_BLH_TMOUT: BLHeli protocol timeout¶

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

Range	Units
0 to 300	seconds

SERVO_BLH_TRATE: BLHeli telemetry rate¶

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

Range	Units
0 to 500	hertz

SERVO_BLH_DEBUG: BLHeli debug level¶

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

Values

Value	Meaning
0	Disabled
1	Enabled

SERVO_BLH_OTYPE: BLHeli output type override¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

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

SERVO_BLH_PORT: Control port¶

Note: This parameter is for advanced users

This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.

Values

Value	Meaning
0	Console
1	Mavlink Serial Channel1
2	Mavlink Serial Channel2
3	Mavlink Serial Channel3
4	Mavlink Serial Channel4
5	Mavlink Serial Channel5

SERVO_BLH_POLES: BLHeli Motor Poles¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
1 to 127

SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels¶

Note: This parameter is for advanced users

Note: Reboot required after change

Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Note that setting an ESC as reversible with this option on AM32 will result in the forward direction of the ESC changing. You can combine with parameter with the SERVO_BLH_RVMASK parameter to maintain the same direction when the ESC is in 3D mode as it has in unidirectional (non-3D) mode.

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16
16	Channel 17
17	Channel 18
18	Channel 19
19	Channel 20
20	Channel 21
21	Channel 22
22	Channel 23
23	Channel 24
24	Channel 25
25	Channel 26
26	Channel 27
27	Channel 28
28	Channel 29
29	Channel 30
30	Channel 31
31	Channel 32

SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels¶

Note: This parameter is for advanced users

Note: Reboot required after change

Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16
16	Channel 17
17	Channel 18
18	Channel 19
19	Channel 20
20	Channel 21
21	Channel 22
22	Channel 23
23	Channel 24
24	Channel 25
25	Channel 26
26	Channel 27
27	Channel 28
28	Channel 29
29	Channel 30
30	Channel 31
31	Channel 32

SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels¶

Note: This parameter is for advanced users

Note: Reboot required after change

Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction. Note that when combined with SERVO_BLH_3DMASK this will change what direction is considered to be forward.

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16
16	Channel 17
17	Channel 18
18	Channel 19
19	Channel 20
20	Channel 21
21	Channel 22
22	Channel 23
23	Channel 24
24	Channel 25
25	Channel 26
26	Channel 27
27	Channel 28
28	Channel 29
29	Channel 30
30	Channel 31
31	Channel 32

SERVO_FTW_ Parameters¶

SERVO_FTW_MASK: Servo channel output bitmask¶

Note: Reboot required after change

Servo channel mask specifying FETtec ESC output.

Bitmask

Bit	Meaning
0	SERVO1
1	SERVO2
2	SERVO3
3	SERVO4
4	SERVO5
5	SERVO6
6	SERVO7
7	SERVO8
8	SERVO9
9	SERVO10
10	SERVO11
11	SERVO12

SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask¶

Servo channel mask to reverse rotation of FETtec ESC outputs.

Bitmask

Bit	Meaning
0	SERVO1
1	SERVO2
2	SERVO3
3	SERVO4
4	SERVO5
5	SERVO6
6	SERVO7
7	SERVO8
8	SERVO9
9	SERVO10
10	SERVO11
11	SERVO12

SERVO_FTW_POLES: Nr. electrical poles¶

Number of motor electrical poles

Range
2 to 50

SERVO_ROB_ Parameters¶

SERVO_ROB_POSMIN: Robotis servo position min¶

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

Range
0 to 4095

SERVO_ROB_POSMAX: Robotis servo position max¶

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

Range
0 to 4095

SERVO_SBUS_ Parameters¶

SERVO_SBUS_RATE: SBUS default output rate¶

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz.

Range	Units
25 to 250	hertz

SERVO_VOLZ_ Parameters¶

SERVO_VOLZ_MASK: Channel Bitmask¶

Enable of volz servo protocol to specific channels

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16
16	Channel17
17	Channel18
18	Channel19
19	Channel20
20	Channel21
21	Channel22
22	Channel23
23	Channel24
24	Channel25
25	Channel26
26	Channel27
28	Channel29
29	Channel30
30	Channel31
31	Channel32

SERVO_VOLZ_RANGE: Range of travel¶

Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.

Units
degrees

Simulation Parameters¶

SIM_ACC1_BIAS_X: Accel 1 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC1_BIAS_Y: Accel 1 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC1_BIAS_Z: Accel 1 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC1_RND: Accel 1 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC1_SCAL_X: Accel 1 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC1_SCAL_Y: Accel 1 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC1_SCAL_Z: Accel 1 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC2_BIAS_X: Accel 2 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC2_BIAS_Y: Accel 2 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC2_BIAS_Z: Accel 2 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC2_RND: Accel 2 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC2_SCAL_X: Accel 2 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC2_SCAL_Y: Accel 2 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC2_SCAL_Z: Accel 2 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC3_BIAS_X: Accel 3 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC3_BIAS_Y: Accel 3 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC3_BIAS_Z: Accel 3 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC3_RND: Accel 3 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC3_SCAL_X: Accel 3 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC3_SCAL_Y: Accel 3 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC3_SCAL_Z: Accel 3 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC4_BIAS_X: Accel 4 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC4_BIAS_Y: Accel 4 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC4_BIAS_Z: Accel 4 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC4_RND: Accel 4 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC4_SCAL_X: Accel 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC4_SCAL_Y: Accel 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC4_SCAL_Z: Accel 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC5_BIAS_X: Accel 5 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC5_BIAS_Y: Accel 5 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC5_BIAS_Z: Accel 5 bias¶

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC5_RND: Accel 5 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC5_SCAL_X: Accel 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC5_SCAL_Y: Accel 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC5_SCAL_Z: Accel 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACCEL1_FAIL: ACCEL1 Failure¶

Note: This parameter is for advanced users

Simulated failure of ACCEL1

Values

Value	Meaning
0	Disabled
1	ACCEL1 Failure

SIM_ACCEL2_FAIL: ACCEL2 Failure¶

Note: This parameter is for advanced users

Simulated failure of ACCEL2

Values

Value	Meaning
0	Disabled
1	ACCEL2 Failure

SIM_ACCEL3_FAIL: ACCEL3 Failure¶

Note: This parameter is for advanced users

Simulated failure of ACCEL3

Values

Value	Meaning
0	Disabled
1	ACCEL3 Failure

SIM_ACCEL4_FAIL: ACCEL4 Failure¶

Note: This parameter is for advanced users

Simulated failure of ACCEL4

Values

Value	Meaning
0	Disabled
1	ACCEL4 Failure

SIM_ACCEL5_FAIL: ACCEL5 Failure¶

Note: This parameter is for advanced users

Simulated failure of ACCEL5

Values

Value	Meaning
0	Disabled
1	ACCEL5 Failure

SIM_ACC_FAIL_MSK: Accelerometer Failure Mask¶

Note: This parameter is for advanced users

Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

Values

Value	Meaning
0	Disabled
1	Readings stopped

SIM_ACC_FILE_RW: Accelerometer data to/from files¶

Read and write accelerometer data to/from files

Values

Value	Meaning
0	Stop writing data
1	Read data from file
2	Write data to a file
3	Read data from file and stop on EOF

SIM_ACC_TRIM_X: Accelerometer trim¶

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (X-axis)

SIM_ACC_TRIM_Y: Accelerometer trim¶

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (Y-axis)

SIM_ACC_TRIM_Z: Accelerometer trim¶

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (Z-axis)

SIM_ADSB_ALT: ADSB altitude of another aircraft¶

Simulated ADSB altitude of another aircraft

Units
meters

SIM_ADSB_COUNT: Number of ADSB aircrafts¶

Total number of ADSB simulated aircraft

SIM_ADSB_RADIUS: ADSB radius stddev of another aircraft¶

Simulated standard deviation of radius in ADSB of another aircraft

Units
meters

SIM_ADSB_TX: ADSB transmit enable¶

ADSB transceiever enable and disable

Values

Value	Meaning
0	Transceiever disable
1	Transceiever enable

SIM_ADSB_TYPES: Simulated ADSB Type mask¶

Note: This parameter is for advanced users

specifies which simulated ADSB types are active

Bitmask

Bit	Meaning
0	MAVLink
3	SageTechMXS

SIM_ARSPD2_FAIL: Airspeed sensor failure¶

Note: This parameter is for advanced users

Simulates Airspeed sensor 1 failure

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_ARSPD2_FAILP: Airspeed sensor failure pressure¶

Note: This parameter is for advanced users

Simulated airspeed sensor failure pressure

Units
pascal

SIM_ARSPD2_OFS: Airspeed sensor offset¶

Note: This parameter is for advanced users

Simulated Airspeed sensor offset

Units
meters per second

SIM_ARSPD2_PITOT: Airspeed pitot tube failure pressure¶

Note: This parameter is for advanced users

Simulated airspeed sensor pitot tube failure pressure

Units
pascal

SIM_ARSPD2_RATIO: Airspeed ratios¶

Note: This parameter is for advanced users

Simulated airspeed sensor ratio

SIM_ARSPD2_RND: Airspeed sensor noise¶

Note: This parameter is for advanced users

Simulated Airspeed sensor noise

Units
pascal

SIM_ARSPD2_SIGN: Airspeed signflip¶

Note: This parameter is for advanced users

Simulated airspeed sensor with reversed pitot/static connections

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_ARSPD_FAIL: Airspeed sensor failure¶

Note: This parameter is for advanced users

Simulates Airspeed sensor 1 failure

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_ARSPD_FAILP: Airspeed sensor failure pressure¶

Note: This parameter is for advanced users

Simulated airspeed sensor failure pressure

Units
pascal

SIM_ARSPD_OFS: Airspeed sensor offset¶

Note: This parameter is for advanced users

Simulated Airspeed sensor offset

Units
meters per second

SIM_ARSPD_PITOT: Airspeed pitot tube failure pressure¶

Note: This parameter is for advanced users

Simulated airspeed sensor pitot tube failure pressure

Units
pascal

SIM_ARSPD_RATIO: Airspeed ratios¶

Note: This parameter is for advanced users

Simulated airspeed sensor ratio

SIM_ARSPD_RND: Airspeed sensor noise¶

Note: This parameter is for advanced users

Simulated Airspeed sensor noise

Units
pascal

SIM_ARSPD_SIGN: Airspeed signflip¶

Note: This parameter is for advanced users

Simulated airspeed sensor with reversed pitot/static connections

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_BAR2_DELAY: Barometer delay¶

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BAR2_DISABLE: Barometer disable¶

Note: This parameter is for advanced users

Disable barometer in SITL

Values

Value	Meaning
0	Disable
1	Enable

SIM_BAR2_DRIFT: Barometer altitude drift¶

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BAR2_FREEZE: Barometer freeze¶

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BAR2_GLITCH: Barometer glitch¶

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BAR2_RND: Barometer noise¶

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BAR2_WCF_BAK: Wind coefficient backward¶

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BAR2_WCF_DN: Wind coefficient down¶

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BAR2_WCF_FWD: Wind coefficient forward¶

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BAR2_WCF_LFT: Wind coefficient left¶

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BAR2_WCF_RGT: Wind coefficient right¶

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BAR2_WCF_UP: Wind coefficient up¶

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BAR3_DELAY: Barometer delay¶

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BAR3_DISABLE: Barometer disable¶

Note: This parameter is for advanced users

Disable barometer in SITL

Values

Value	Meaning
0	Disable
1	Enable

SIM_BAR3_DRIFT: Barometer altitude drift¶

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BAR3_FREEZE: Barometer freeze¶

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BAR3_GLITCH: Barometer glitch¶

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BAR3_RND: Barometer noise¶

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BAR3_WCF_BAK: Wind coefficient backward¶

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BAR3_WCF_DN: Wind coefficient down¶

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BAR3_WCF_FWD: Wind coefficient forward¶

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BAR3_WCF_LFT: Wind coefficient left¶

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BAR3_WCF_RGT: Wind coefficient right¶

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BAR3_WCF_UP: Wind coefficient up¶

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BARO_COUNT: Baro count¶

Number of simulated baros to create in SITL

Range
0 to 3

SIM_BARO_DELAY: Barometer delay¶

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BARO_DISABLE: Barometer disable¶

Note: This parameter is for advanced users

Disable barometer in SITL

Values

Value	Meaning
0	Disable
1	Enable

SIM_BARO_DRIFT: Barometer altitude drift¶

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BARO_FREEZE: Barometer freeze¶

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BARO_GLITCH: Barometer glitch¶

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BARO_RND: Barometer noise¶

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BARO_WCF_BAK: Wind coefficient backward¶

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BARO_WCF_DN: Wind coefficient down¶

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BARO_WCF_FWD: Wind coefficient forward¶

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BARO_WCF_LFT: Wind coefficient left¶

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BARO_WCF_RGT: Wind coefficient right¶

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BARO_WCF_UP: Wind coefficient up¶

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BATT_CAP_AH: Simulated battery capacity¶

Note: This parameter is for advanced users

Simulated battery capacity

Units
ampere hour

SIM_BATT_VOLTAGE: Simulated battery voltage¶

Note: This parameter is for advanced users

Simulated battery (constant) voltage

Units
volt

SIM_BAUDLIMIT_EN: Telemetry bandwidth limitting¶

SITL enable bandwidth limitting on telemetry ports with non-zero values

SIM_BZ_ENABLE: Buzzer enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the simulated buzzer

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_BZ_PIN: buzzer pin¶

Note: This parameter is for advanced users

The pin number that the Buzzer is connected to (start at 1)

Range
0 to 15

SIM_CAN_SRV_MSK: Mask of CAN servos/ESCs¶

Note: This parameter is for advanced users

The set of actuators controlled externally by CAN SITL AP_Periph

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
16	Servo 17
17	Servo 18
18	Servo 19
19	Servo 20
20	Servo 21
21	Servo 22
22	Servo 23
23	Servo 24
24	Servo 25
25	Servo 26
26	Servo 27
27	Servo 28
28	Servo 29
29	Servo 30
30	Servo 31
31	Servo 32

SIM_CAN_TYPE1: transport type for first CAN interface¶

Note: This parameter is for advanced users

transport type for first CAN interface

Values

Value	Meaning
0	None
1	MulticastUDP
2	SocketCAN

SIM_CAN_TYPE2: transport type for second CAN interface¶

Note: This parameter is for advanced users

transport type for second CAN interface

Values

Value	Meaning
0	None
1	MulticastUDP
2	SocketCAN

SIM_CLAMP_CH: Simulated Clamp Channel¶

If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM

SIM_DRIFT_SPEED: Gyro drift speed¶

Gyro drift rate of change in degrees/second/minute

SIM_DRIFT_TIME: Gyro drift time¶

Gyro drift duration of one full drift cycle (period in minutes)

SIM_EFI_TYPE: Type of Electronic Fuel Injection¶

Different types of Electronic Fuel Injection (EFI) systems

Values

Value	Meaning
0	None
1	MegaSquirt EFI system
2	Löweheiser EFI system
8	Hirth engines

SIM_ENGINE_FAIL: Engine Fail Mask¶

mask of motors which SIM_ENGINE_MUL will be applied to

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
16	Servo 17
17	Servo 18
18	Servo 19
19	Servo 20
20	Servo 21
21	Servo 22
22	Servo 23
23	Servo 24
24	Servo 25
25	Servo 26
26	Servo 27
27	Servo 28
28	Servo 29
29	Servo 30
30	Servo 31
31	Servo 32

SIM_ENGINE_MUL: Engine failure thrust scaler¶

Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor

Range
0 to 1

SIM_ESC_ARM_RPM: ESC RPM when armed¶

Note: This parameter is for advanced users

Simulated RPM when motors are armed

SIM_ESC_TELEM: Simulated ESC Telemetry¶

Note: This parameter is for advanced users

enable perfect simulated ESC telemetry

SIM_FLOAT_EXCEPT: Generate floating point exceptions¶

Note: This parameter is for advanced users

If set, if a numerical error occurs SITL will die with a floating point exception.

SIM_FLOW_DELAY: Opflow Delay¶

Opflow data delay

Units
milliseconds

SIM_FLOW_ENABLE: Opflow Enable¶

Enable simulated Optical Flow sensor

Values

Value	Meaning
0	Disable
1	Enabled

SIM_FLOW_POS_X: Opflow Pos¶

XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)

Units
meters

SIM_FLOW_POS_Y: Opflow Pos¶

XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)

Units
meters

SIM_FLOW_POS_Z: Opflow Pos¶

XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)

Units
meters

SIM_FLOW_RATE: Opflow Rate¶

Opflow Data Rate

Units
hertz

SIM_FLOW_RND: Opflow noise¶

Optical Flow sensor measurement noise

Units
radians per second

SIM_FTOWESC_ENA: FETtec OneWire ESC simulator enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the FETtecOneWireESC simulator

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_FTOWESC_POW: Power off FETtec ESC mask¶

Note: This parameter is for advanced users

Allows you to turn power off to the simulated ESCs. Bits correspond to the ESC ID, *NOT* their servo channel.

SIM_GLD_BLN_BRST: balloon burst height¶

balloon burst height

Units
meters

SIM_GLD_BLN_RATE: balloon climb rate¶

balloon climb rate. If the value is less than zero then the balloon is disabled.

Units
meters per second

SIM_GND_BEHAV: Ground behavior¶

Ground behavior of aircraft (tailsitter, no movement, forward only)

SIM_GPS1_ACC: GPS Accuracy¶

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS1_ALT_OFS: GPS Altitude Offset¶

GPS Altitude Error

Units
meters

SIM_GPS1_BYTELOS: GPS Byteloss¶

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS1_DRFTALT: GPS Altitude Drift¶

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS1_ENABLE: GPS enable¶

Note: This parameter is for advanced users

Enable simulated GPS

Values

Value	Meaning
0	Disable
1	Enable

SIM_GPS1_GLTCH_X: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS1_GLTCH_Y: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS1_GLTCH_Z: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS1_HDG: GPS Heading¶

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values

Value	Meaning
0	Disabled
1	Emit HDT
2	Emit THS
3	KSXT
4	Be Moving Baseline Base

SIM_GPS1_HZ: GPS Hz¶

GPS Update rate

Units
hertz

SIM_GPS1_JAM: GPS jamming enable¶

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_GPS1_LAG_MS: GPS Lag¶

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS1_LCKTIME: GPS Lock Time¶

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS1_NOISE: GPS Noise¶

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS1_NUMSATS: GPS Num Satellites¶

Number of satellites GPS has in view

SIM_GPS1_POS_X: GPS Position¶

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS1_POS_Y: GPS Position¶

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS1_POS_Z: GPS Position¶

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS1_TYPE: GPS type¶

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values

Value	Meaning
0	None
1	UBlox
5	NMEA
6	SBP
7	File
8	Nova
9	SBP2
11	Trimble
19	MSP

SIM_GPS1_VERR_X: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS1_VERR_Y: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS1_VERR_Z: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS2_ACC: GPS Accuracy¶

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS2_ALT_OFS: GPS Altitude Offset¶

GPS Altitude Error

Units
meters

SIM_GPS2_BYTELOS: GPS Byteloss¶

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS2_DRFTALT: GPS Altitude Drift¶

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS2_ENABLE: GPS enable¶

Note: This parameter is for advanced users

Enable simulated GPS

Values

Value	Meaning
0	Disable
1	Enable

SIM_GPS2_GLTCH_X: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS2_GLTCH_Y: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS2_GLTCH_Z: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS2_HDG: GPS Heading¶

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values

Value	Meaning
0	Disabled
1	Emit HDT
2	Emit THS
3	KSXT
4	Be Moving Baseline Base

SIM_GPS2_HZ: GPS Hz¶

GPS Update rate

Units
hertz

SIM_GPS2_JAM: GPS jamming enable¶

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_GPS2_LAG_MS: GPS Lag¶

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS2_LCKTIME: GPS Lock Time¶

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS2_NOISE: GPS Noise¶

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS2_NUMSATS: GPS Num Satellites¶

Number of satellites GPS has in view

SIM_GPS2_POS_X: GPS Position¶

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS2_POS_Y: GPS Position¶

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS2_POS_Z: GPS Position¶

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS2_TYPE: GPS type¶

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values

Value	Meaning
0	None
1	UBlox
5	NMEA
6	SBP
7	File
8	Nova
9	SBP2
11	Trimble
19	MSP

SIM_GPS2_VERR_X: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS2_VERR_Y: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS2_VERR_Z: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS3_ACC: GPS Accuracy¶

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS3_ALT_OFS: GPS Altitude Offset¶

GPS Altitude Error

Units
meters

SIM_GPS3_BYTELOS: GPS Byteloss¶

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS3_DRFTALT: GPS Altitude Drift¶

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS3_ENABLE: GPS enable¶

Note: This parameter is for advanced users

Enable simulated GPS

Values

Value	Meaning
0	Disable
1	Enable

SIM_GPS3_GLTCH_X: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS3_GLTCH_Y: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS3_GLTCH_Z: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS3_HDG: GPS Heading¶

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values

Value	Meaning
0	Disabled
1	Emit HDT
2	Emit THS
3	KSXT
4	Be Moving Baseline Base

SIM_GPS3_HZ: GPS Hz¶

GPS Update rate

Units
hertz

SIM_GPS3_JAM: GPS jamming enable¶

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_GPS3_LAG_MS: GPS Lag¶

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS3_LCKTIME: GPS Lock Time¶

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS3_NOISE: GPS Noise¶

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS3_NUMSATS: GPS Num Satellites¶

Number of satellites GPS has in view

SIM_GPS3_POS_X: GPS Position¶

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS3_POS_Y: GPS Position¶

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS3_POS_Z: GPS Position¶

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS3_TYPE: GPS type¶

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values

Value	Meaning
0	None
1	UBlox
5	NMEA
6	SBP
7	File
8	Nova
9	SBP2
11	Trimble
19	MSP

SIM_GPS3_VERR_X: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS3_VERR_Y: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS3_VERR_Z: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS4_ACC: GPS Accuracy¶

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS4_ALT_OFS: GPS Altitude Offset¶

GPS Altitude Error

Units
meters

SIM_GPS4_BYTELOS: GPS Byteloss¶

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS4_DRFTALT: GPS Altitude Drift¶

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS4_ENABLE: GPS enable¶

Note: This parameter is for advanced users

Enable simulated GPS

Values

Value	Meaning
0	Disable
1	Enable

SIM_GPS4_GLTCH_X: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS4_GLTCH_Y: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS4_GLTCH_Z: GPS Glitch¶

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS4_HDG: GPS Heading¶

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values

Value	Meaning
0	Disabled
1	Emit HDT
2	Emit THS
3	KSXT
4	Be Moving Baseline Base

SIM_GPS4_HZ: GPS Hz¶

GPS Update rate

Units
hertz

SIM_GPS4_JAM: GPS jamming enable¶

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_GPS4_LAG_MS: GPS Lag¶

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS4_LCKTIME: GPS Lock Time¶

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS4_NOISE: GPS Noise¶

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS4_NUMSATS: GPS Num Satellites¶

Number of satellites GPS has in view

SIM_GPS4_POS_X: GPS Position¶

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS4_POS_Y: GPS Position¶

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS4_POS_Z: GPS Position¶

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS4_TYPE: GPS type¶

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values

Value	Meaning
0	None
1	UBlox
5	NMEA
6	SBP
7	File
8	Nova
9	SBP2
11	Trimble
19	MSP

SIM_GPS4_VERR_X: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS4_VERR_Y: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS4_VERR_Z: GPS Velocity Error¶

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS_LOG_NUM: GPS Log Number¶

Log number for GPS:update_file()

SIM_GRPE_ENABLE: Gripper servo Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_GRPE_PIN: Gripper emp pin¶

Note: This parameter is for advanced users

The pin number that the gripper emp is connected to. (start at 1)

Range
0 to 15

SIM_GRPS_ENABLE: Gripper servo Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_GRPS_GRAB: Gripper Grab PWM¶

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

Range	Units
1000 to 2000	PWM in microseconds

SIM_GRPS_PIN: Gripper servo pin¶

Note: This parameter is for advanced users

The pin number that the gripper servo is connected to. (start at 1)

Range
0 to 15

SIM_GRPS_RELEASE: Gripper Release PWM¶

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range	Units
1000 to 2000	PWM in microseconds

SIM_GRPS_REVERSE: Gripper close direction¶

Note: This parameter is for advanced users

Reverse the closing direction.

Values

Value	Meaning
0	Normal
1	Reverse

SIM_GYR1_BIAS_X: First Gyro bias on X axis¶

Note: This parameter is for advanced users

First Gyro bias on X axis

Units
radians per second

SIM_GYR1_BIAS_Y: First Gyro bias on Y axis¶

Note: This parameter is for advanced users

First Gyro bias on Y axis

Units
radians per second

SIM_GYR1_BIAS_Z: First Gyro bias on Z axis¶

Note: This parameter is for advanced users

First Gyro bias on Z axis

Units
radians per second

SIM_GYR1_RND: Gyro 1 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR1_SCALE_X: Gyro 1 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR1_SCALE_Y: Gyro 1 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR1_SCALE_Z: Gyro 1 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR2_BIAS_X: Second Gyro bias on X axis¶

Note: This parameter is for advanced users

Second Gyro bias on X axis

Units
radians per second

SIM_GYR2_BIAS_Y: Second Gyro bias on Y axis¶

Note: This parameter is for advanced users

Second Gyro bias on Y axis

Units
radians per second

SIM_GYR2_BIAS_Z: Second Gyro bias on Z axis¶

Note: This parameter is for advanced users

Second Gyro bias on Z axis

Units
radians per second

SIM_GYR2_RND: Gyro 2 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR2_SCALE_X: Gyro 2 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR2_SCALE_Y: Gyro 2 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR2_SCALE_Z: Gyro 2 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR3_BIAS_X: Third Gyro bias on X axis¶

Note: This parameter is for advanced users

Third Gyro bias on X axis

Units
radians per second

SIM_GYR3_BIAS_Y: Third Gyro bias on Y axis¶

Note: This parameter is for advanced users

Third Gyro bias on Y axis

Units
radians per second

SIM_GYR3_BIAS_Z: Third Gyro bias on Z axis¶

Note: This parameter is for advanced users

Third Gyro bias on Z axis

Units
radians per second

SIM_GYR3_RND: Gyro 3 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR3_SCALE_X: Gyro 3 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR3_SCALE_Y: Gyro 3 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR3_SCALE_Z: Gyro 3 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR4_BIAS_X: Fourth Gyro bias on X axis¶

Note: This parameter is for advanced users

Fourth Gyro bias on X axis

Units
radians per second

SIM_GYR4_BIAS_Y: Fourth Gyro bias on Y axis¶

Note: This parameter is for advanced users

Fourth Gyro bias on Y axis

Units
radians per second

SIM_GYR4_BIAS_Z: Fourth Gyro bias on Z axis¶

Note: This parameter is for advanced users

Fourth Gyro bias on Z axis

Units
radians per second

SIM_GYR4_RND: Gyro 4 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR4_SCALE_X: Gyro 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR4_SCALE_Y: Gyro 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR4_SCALE_Z: Gyro 4 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR5_BIAS_X: Fifth Gyro bias on X axis¶

Note: This parameter is for advanced users

Fifth Gyro bias on X axis

Units
radians per second

SIM_GYR5_BIAS_Y: Fifth Gyro bias on Y axis¶

Note: This parameter is for advanced users

Fifth Gyro bias on Y axis

Units
radians per second

SIM_GYR5_BIAS_Z: Fifth Gyro bias on Z axis¶

Note: This parameter is for advanced users

Fifth Gyro bias on Z axis

Units
radians per second

SIM_GYR5_RND: Gyro 5 motor noise factor¶

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR5_SCALE_X: Gyro 5 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR5_SCALE_Y: Gyro 5 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR5_SCALE_Z: Gyro 5 scaling factor¶

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR_FAIL_MSK: Gyro Failure Mask¶

Note: This parameter is for advanced users

Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

Values

Value	Meaning
0	Disabled
1	Readings stopped

SIM_GYR_FILE_RW: Gyro data to/from files¶

Read and write gyro data to/from files

Values

Value	Meaning
0	Stop writing data
1	Read data from file
2	Write data to a file
3	Read data from file and stop on EOF

SIM_IE24_ENABLE: IntelligentEnergy 2.4kWh FuelCell sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the FuelCell simulator

Values

Value	Meaning
0	Disabled
1	V1 Protocol
2	V2 Protocol

SIM_IE24_ERROR: Explicitly set error code¶

Note: This parameter is for advanced users

Explicitly specify an error code to send to the generator

SIM_IE24_STATE: Explicitly set state¶

Note: This parameter is for advanced users

Explicitly specify a state for the generator to be in

SIM_IMUT_END: IMU temperature end¶

Ending IMU temperature of a curve

SIM_IMUT_FIXED: IMU fixed temperature¶

IMU fixed temperature by user

SIM_IMUT_START: IMU temperature start¶

Starting IMU temperature of a curve

SIM_IMUT_TCONST: IMU temperature time constant¶

IMU temperature time constant of the curve

SIM_IMU_COUNT: IMU count¶

Number of simulated IMUs to create

SIM_IMU_ORIENT: IMU orientation¶

Note: This parameter is for advanced users

Simulated orientation of the IMUs

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

SIM_IMU_POS_X: IMU Offsets¶

XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)

Units
meters

SIM_IMU_POS_Y: IMU Offsets¶

XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)

Units
meters

SIM_IMU_POS_Z: IMU Offsets¶

XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)

Units
meters

SIM_INIT_ALT_OFS: Initial Altitude Offset¶

GPS initial alt offset from origin

SIM_INIT_LAT_OFS: Initial Latitude Offset¶

GPS initial lat offset from origin

SIM_INIT_LON_OFS: Initial Longitude Offset¶

GPS initial lon offset from origin

SIM_INS_THR_MIN: Minimum throttle INS noise¶

Minimum throttle for simulated ins noise

SIM_JSON_MASTER: JSON master instance¶

the instance number to take servos from

SIM_LED_LAYOUT: LED layout¶

LED layout config value

SIM_LOOP_DELAY: Extra delay per main loop¶

Extra time delay per main loop

Units
microseconds

SIM_MAG1_DEVID: MAG1 Device ID¶

Note: This parameter is for advanced users

Device ID of simulated compass 1

SIM_MAG1_FAIL: MAG1 Failure¶

Note: This parameter is for advanced users

Simulated failure of MAG1

Values

Value	Meaning
0	Disabled
1	MAG1 Failure

SIM_MAG1_ORIENT: MAG1 Orientation¶

Note: This parameter is for advanced users

MAG1 external compass orientation

SIM_MAG1_SCALING: MAG1 Scaling factor¶

Note: This parameter is for advanced users

Scale the compass 1 to simulate sensor scale factor errors

SIM_MAG2_DEVID: MAG2 Device ID¶

Note: This parameter is for advanced users

Device ID of simulated compass 2

SIM_MAG2_FAIL: MAG2 Failure¶

Note: This parameter is for advanced users

Simulated failure of MAG2

Values

Value	Meaning
0	Disabled
1	MAG2 Failure

SIM_MAG2_ORIENT: MAG2 Orientation¶

Note: This parameter is for advanced users

MAG2 external compass orientation

SIM_MAG2_SCALING: MAG2 Scaling factor¶

Note: This parameter is for advanced users

Scale the compass 2 to simulate sensor scale factor errors

SIM_MAG3_DEVID: MAG3 Device ID¶

Note: This parameter is for advanced users

Device ID of simulated compass 3

SIM_MAG3_FAIL: MAG3 Failure¶

Note: This parameter is for advanced users

Simulated failure of MAG3

Values

Value	Meaning
0	Disabled
1	MAG3 Failure

SIM_MAG3_ORIENT: MAG3 Orientation¶

Note: This parameter is for advanced users

MAG3 external compass orientation

SIM_MAG3_SCALING: MAG3 Scaling factor¶

Note: This parameter is for advanced users

Scale the compass 3 to simulate sensor scale factor errors

SIM_MAG4_DEVID: MAG2 Device ID¶

Note: This parameter is for advanced users

Device ID of simulated compass 4

SIM_MAG5_DEVID: MAG5 Device ID¶

Note: This parameter is for advanced users

Device ID of simulated compass 5

SIM_MAG6_DEVID: MAG6 Device ID¶

Note: This parameter is for advanced users

Device ID of simulated compass 6

SIM_MAG7_DEVID: MAG7 Device ID¶

Note: This parameter is for advanced users

Device ID of simulated compass 7

SIM_MAG8_DEVID: MAG8 Device ID¶

Note: This parameter is for advanced users

Device ID of simulated compass 8

SIM_MAG_ALY_HGT: Magnetic anomaly height¶

Note: This parameter is for advanced users

Height above ground where anomally strength has decayed to 1/8 of the ground level value

Units
meters

SIM_MAG_DELAY: Mag measurement delay¶

Note: This parameter is for advanced users

Magnetometer measurement delay

Units
milliseconds

SIM_MAG_RND: Mag motor noise factor¶

Note: This parameter is for advanced users

Scaling factor for simulated vibration from motors

SIM_MAG_SAVE_IDS: Save MAG devids on startup¶

Note: This parameter is for advanced users

This forces saving of compass devids on startup so that simulated compasses start as calibrated

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_ODOM_ENABLE: Odometry enable¶

SITL odometry enabl

Values

Value	Meaning
0	Disable
1	Enable

SIM_OH_MASK: SIM-on_hardware Output Enable Mask¶

channels which are passed through to actual hardware when running sim on actual hardware

SIM_OH_RELAY_MSK: SIM-on_hardware Relay Enable Mask¶

Allow relay output operation when running SIM-on-hardware

SIM_OPOS_ALT: Original Position (Altitude)¶

Note: This parameter is for advanced users

Specifies vehicle's startup altitude (AMSL)

SIM_OPOS_HDG: Original Position (Heading)¶

Note: This parameter is for advanced users

Specifies vehicle's startup heading (0-360)

SIM_OPOS_LAT: Original Position (Latitude)¶

Note: This parameter is for advanced users

Specifies vehicle's startup latitude

SIM_OPOS_LNG: Original Position (Longitude)¶

Note: This parameter is for advanced users

Specifies vehicle's startup longitude

SIM_OSD_COLUMNS: Simulated OSD number of text columns¶

Simulated OSD number of text columns

Range
10 to 100

SIM_OSD_ROWS: Simulated OSD number of text rows¶

Simulated OSD number of text rows

Range
10 to 100

SIM_PARA_ENABLE: Parachute Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Parachute simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_PARA_PIN: Parachute pin¶

Note: This parameter is for advanced users

The pin number that the Parachute pyrotechnics are connected to. (start at 1)

Range
0 to 15

SIM_PIN_MASK: GPIO emulation¶

SITL GPIO emulation

SIM_PLD_ALT_LMT: Precland device alt range¶

Note: This parameter is for advanced users

Precland device maximum range altitude

Range	Units
0 to 100	meters

SIM_PLD_DIST_LMT: Precland device lateral range¶

Note: This parameter is for advanced users

Precland device maximum lateral range

Range	Units
5 to 100	meters

SIM_PLD_ENABLE: Preland device Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Preland simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_PLD_HEIGHT: Precland device center's height SITL origin¶

Note: This parameter is for advanced users

Precland device center's height above SITL origin. Assumes a 2x2m square as station base

Increment	Range	Units
1	0 to 10000	meters

SIM_PLD_LAT: Precland device center's latitude¶

Note: This parameter is for advanced users

Precland device center's latitude

Increment	Range	Units
0.000001	-90 to 90	degrees

SIM_PLD_LON: Precland device center's longitude¶

Note: This parameter is for advanced users

Precland device center's longitude

Increment	Range	Units
0.000001	-180 to 180	degrees

SIM_PLD_OPTIONS: SIM_Precland extra options¶

Note: This parameter is for advanced users

SIM_Precland extra options

Bitmask

Bit	Meaning
0	Enable target distance

SIM_PLD_ORIENT: Precland device orientation¶

Note: This parameter is for advanced users

Precland device orientation vector

Values

Value	Meaning
0	Front
4	Back
24	Up

SIM_PLD_RATE: Precland device update rate¶

Note: This parameter is for advanced users

Precland device rate. e.g led patter refresh rate, RF message rate, etc.

Range	Units
0 to 200	hertz

SIM_PLD_SHIP: SIM_Precland follow ship¶

Note: This parameter is for advanced users

This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_PLD_TYPE: Precland device radiance type¶

Note: This parameter is for advanced users

Precland device radiance type: it can be a cylinder, a cone, or a sphere.

Values

Value	Meaning
0	cylinder
1	cone
2	sphere

SIM_PLD_YAW: Precland device systems rotation from north¶

Note: This parameter is for advanced users

Precland device systems rotation from north

Increment	Range	Units
1	-180 to +180	degrees

SIM_RATE_HZ: Loop rate¶

SITL Loop rate

Units
hertz

SIM_RC_CHANCOUNT: RC channel count¶

SITL RC channel count

SIM_RC_FAIL: Simulated RC signal failure¶

Note: This parameter is for advanced users

Allows you to emulate rc failures in sim

Values

Value	Meaning
0	Disabled
1	No RC pusles
2	All Channels neutral except Throttle is 950us

SIM_RFL_OPTS: FlightAxis options¶

Note: This parameter is for advanced users

Bitmask of FlightAxis options

Bitmask

Bit	Meaning
0	Reset position on startup
1	Swap first 4 and last 4 servos (for quadplane testing)
2	Demix heli servos and send roll/pitch/collective/yaw
3	Don’t print frame rate stats

SIM_RICH_CTRL: Pin RichenPower is connectred to¶

Note: This parameter is for advanced users

The pin number that the RichenPower spinner servo is connected to. (start at 1)

Range
0 to 15

SIM_RICH_ENABLE: RichenPower Generator sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the RichenPower simulator

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_SB_ALT_TARG: altitude target¶

altitude target

Units
meters

SIM_SB_ARM_LEN: arm length¶

distance from center of mass to one motor

Units
meters

SIM_SB_CLMB_RT: target climb rate¶

target climb rate

Units
meters per second

SIM_SB_COL: center of lift¶

center of lift position above CoG

Units
meters

SIM_SB_DRAG_FWD: drag in forward direction¶

drag on X axis

SIM_SB_DRAG_SIDE: drag in sidewards direction¶

drag on Y axis

SIM_SB_DRAG_UP: drag in upward direction¶

drag on Z axis

SIM_SB_FLR: free lift rate¶

amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift

SIM_SB_HMASS: helium mass¶

mass of lifting gas

Units
kilograms

SIM_SB_MASS: mass¶

mass of blimp not including lifting gas

Units
kilograms

SIM_SB_MOI_PITCH: moment of inertia in pitch¶

moment of inertia in pitch

SIM_SB_MOI_ROLL: moment of inertia in roll¶

moment of inertia in roll

SIM_SB_MOI_YAW: moment of inertia in yaw¶

moment of inertia in yaw

SIM_SB_MOT_ANG: motor angle¶

maximum motor tilt angle

Units
degrees

SIM_SB_MOT_THST: motor thrust¶

thrust at max throttle for one motor

Units
Newtons

SIM_SB_WVANE: weathervaning offset¶

center of drag for weathervaning

Units
meters

SIM_SB_YAW_RT: yaw rate¶

maximum yaw rate with full left throttle at target altitude

Units
degrees per second

SIM_SERVO_DELAY: servo delay¶

servo delay

Units
seconds

SIM_SERVO_FILTER: servo filter¶

servo filter

Units
hertz

SIM_SERVO_SPEED: servo speed¶

servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit

Units
seconds

SIM_SHIP_DSIZE: Deck Size¶

Size of the ship's deck

Units
meters

SIM_SHIP_ENABLE: Ship landing Enable¶

Enable ship landing simulation

Values

Value	Meaning
0	Disable
1	Enabled

SIM_SHIP_OFS_X: Ship landing pad offset¶

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (X-axis)

Units
meters

SIM_SHIP_OFS_Y: Ship landing pad offset¶

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (Y-axis)

Units
meters

SIM_SHIP_OFS_Z: Ship landing pad offset¶

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (Z-axis)

Units
meters

SIM_SHIP_PSIZE: Path Size¶

Diameter of the circle the ship is traveling on

Units
meters

SIM_SHIP_SPEED: Ship Speed¶

Speed of the ship

Units
meters per second

SIM_SHIP_SYSID: System ID¶

System ID of the ship

Range
1 to 255

SIM_SHOVE_TIME: Time length for shove¶

Force to the vehicle over a period of time

Units
milliseconds

SIM_SHOVE_X: Acceleration of shove x¶

Acceleration of shove to vehicle in x axis

Units
meters per square second

SIM_SHOVE_Y: Acceleration of shove y¶

Acceleration of shove to vehicle in y axis

Units
meters per square second

SIM_SHOVE_Z: Acceleration of shove z¶

Acceleration of shove to vehicle in z axis

Units
meters per square second

SIM_SLUP_DRAG: Slung Payload drag coefficient¶

Note: This parameter is for advanced users

Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly

Range	Units
0 to 10	meters

SIM_SLUP_ENABLE: Slung Payload Sim enable/disable¶

Note: This parameter is for advanced users

Slung Payload Sim enable/disable

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_SLUP_LINELEN: Slung Payload line length¶

Note: This parameter is for advanced users

Slung Payload line length in meters

Range	Units
0 to 100	meters

SIM_SLUP_SYSID: Slung Payload MAVLink system ID¶

Note: This parameter is for advanced users

Slung Payload MAVLink system id to distinguish it from others on the same network

Range
0 to 255

SIM_SLUP_WEIGHT: Slung Payload weight¶

Note: This parameter is for advanced users

Slung Payload weight in kg

Range	Units
0 to 15	kilograms

SIM_SONAR_GLITCH: Sonar glitch probablility¶

Note: This parameter is for advanced users

Probablility a sonar glitch would happen

Range
0 to 1

SIM_SONAR_POS_X: Sonar Offsets¶

XYZ position of the sonar relative to the body frame origin (X-axis)

Units
meters

SIM_SONAR_POS_Y: Sonar Offsets¶

XYZ position of the sonar relative to the body frame origin (Y-axis)

Units
meters

SIM_SONAR_POS_Z: Sonar Offsets¶

XYZ position of the sonar relative to the body frame origin (Z-axis)

Units
meters

SIM_SONAR_RND: Sonar noise factor¶

Note: This parameter is for advanced users

Scaling factor for simulated sonar noise

SIM_SONAR_ROT: Sonar rotation¶

Sonar rotation from rotations enumeration

SIM_SONAR_SCALE: Sonar conversion scale¶

Sonar conversion scale from distance to voltage

Units
meters per volt

SIM_SPEEDUP: Sim Speedup¶

Note: This parameter is for advanced users

Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used

Range
1 to 10

SIM_SPR_ENABLE: Sprayer Sim enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Sprayer simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_SPR_PUMP: Sprayer pump pin¶

Note: This parameter is for advanced users

The pin number that the Sprayer pump is connected to. (start at 1)

Range
0 to 15

SIM_SPR_SPIN: Sprayer spinner servo pin¶

Note: This parameter is for advanced users

The pin number that the Sprayer spinner servo is connected to. (start at 1)

Range
0 to 15

SIM_TA_ENABLE: ToneAlarm enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the simulated tonealarm

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_TEMP_BFACTOR: Baro temperature factor¶

Note: This parameter is for advanced users

A pressure change with temperature that closely matches what has been observed with a ICM-20789

SIM_TEMP_BRD_OFF: Baro temperature offset¶

Note: This parameter is for advanced users

Barometer board temperature offset from atmospheric temperature

Units
degrees Celsius

SIM_TEMP_START: Start temperature¶

Note: This parameter is for advanced users

Baro start temperature

Units
degrees Celsius

SIM_TEMP_TCONST: Warmup time constant¶

Note: This parameter is for advanced users

Barometer warmup temperature time constant

Units
degrees Celsius

SIM_TERRAIN: Terrain Enable¶

Enable using terrain for height

Values

Value	Meaning
0	Disable
1	Enabled

SIM_TETH_DENSITY: Tether Wire Density¶

Note: This parameter is for advanced users

Linear mass density of the tether wire

Range
0 to 1

SIM_TETH_DMPCNST: Tether Damping Constant¶

Note: This parameter is for advanced users

Damping constant for the tether to simulate resistance based on change in stretch

Range
0 to 255

SIM_TETH_ENABLE: Tether Simulation Enable/Disable¶

Note: This parameter is for advanced users

Enable or disable the tether simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_TETH_LINELEN: Tether Maximum Line Length¶

Note: This parameter is for advanced users

Maximum length of the tether line in meters

Range	Units
0 to 100	meters

SIM_TETH_SPGCNST: Tether Spring Constant¶

Note: This parameter is for advanced users

Spring constant for the tether to simulate elastic forces when stretched beyond its maximum length

Range
0 to 255

SIM_TETH_STUCK: Tether Stuck Enable/Disable¶

Note: This parameter is for advanced users

Enable or disable a stuck tether simulation

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_TETH_SYSID: Tether Simulation MAVLink System ID¶

Note: This parameter is for advanced users

MAVLink system ID for the tether simulation, used to distinguish it from other systems on the network

Range
0 to 255

SIM_THML_SCENARI: Thermal scenarios¶

Scenario for thermalling simulation, for soaring

SIM_TIDE_DIR: Tide direction¶

Tide direction wave is coming from

Units
degrees

SIM_TIDE_SPEED: Tide speed¶

Tide speed in simulation

Units
meters per second

SIM_TIME_JITTER: Loop time jitter¶

Note: This parameter is for advanced users

Upper limit of random jitter in loop time

Units
microseconds

SIM_TWIST_TIME: Twist time¶

Time that twist is applied on the vehicle

Units
milliseconds

SIM_TWIST_X: Twist x¶

Rotational acceleration of twist x axis

Units
radians per square second

SIM_TWIST_Y: Twist y¶

Rotational acceleration of twist y axis

Units
radians per square second

SIM_TWIST_Z: Twist z¶

Rotational acceleration of twist z axis

Units
radians per square second

SIM_UART_LOSS: UART byte loss percentage¶

Note: This parameter is for advanced users

Sets percentage of outgoing byte loss on UARTs

Units
percent

SIM_VIB_MOT_HMNC: Motor harmonics¶

Motor harmonics generated in SITL

SIM_VIB_MOT_MASK: Motor mask¶

Motor mask, allowing external simulators to mark motors

SIM_VIB_MOT_MAX: Max motor vibration frequency¶

Max frequency to use as baseline for adding motor noise for the gyros and accels

Units
hertz

SIM_VIB_MOT_MULT: Vibration motor scale¶

Amplitude scaling of motor noise relative to gyro/accel noise

SIM_VICON_FAIL: SITL vicon failure¶

Note: This parameter is for advanced users

SITL vicon failure

Values

Value	Meaning
0	Vicon Healthy
1	Vicon Failed

SIM_VICON_GLIT_X: SITL vicon position glitch North¶

Note: This parameter is for advanced users

SITL vicon position glitch North

Units
meters

SIM_VICON_GLIT_Y: SITL vicon position glitch East¶

Note: This parameter is for advanced users

SITL vicon position glitch East

Units
meters

SIM_VICON_GLIT_Z: SITL vicon position glitch Down¶

Note: This parameter is for advanced users

SITL vicon position glitch Down

Units
meters

SIM_VICON_POS_X: SITL vicon position on vehicle in Forward direction¶

Note: This parameter is for advanced users

SITL vicon position on vehicle in Forward direction

Range	Units
0 to 10	meters

SIM_VICON_POS_Y: SITL vicon position on vehicle in Right direction¶

Note: This parameter is for advanced users

SITL vicon position on vehicle in Right direction

Range	Units
0 to 10	meters

SIM_VICON_POS_Z: SITL vicon position on vehicle in Down direction¶

Note: This parameter is for advanced users

SITL vicon position on vehicle in Down direction

Range	Units
0 to 10	meters

SIM_VICON_P_SD: SITL vicon position standard deviation for gaussian noise¶

Note: This parameter is for advanced users

SITL vicon position standard deviation for gaussian noise

Units
meters

SIM_VICON_RATE: SITL vicon rate¶

Note: This parameter is for advanced users

SITL vicon rate

Units
hertz

SIM_VICON_TMASK: SITL vicon type mask¶

Note: This parameter is for advanced users

SITL vicon messages sent

Bitmask

Bit	Meaning
0	VISION_POSITION_ESTIMATE
1	VISION_SPEED_ESTIMATE
2	VICON_POSITION_ESTIMATE
3	VISION_POSITION_DELTA
4	ODOMETRY

SIM_VICON_VGLI_X: SITL vicon velocity glitch North¶

Note: This parameter is for advanced users

SITL vicon velocity glitch North

Units
meters per second

SIM_VICON_VGLI_Y: SITL vicon velocity glitch East¶

Note: This parameter is for advanced users

SITL vicon velocity glitch East

Units
meters per second

SIM_VICON_VGLI_Z: SITL vicon velocity glitch Down¶

Note: This parameter is for advanced users

SITL vicon velocity glitch Down

Units
meters per second

SIM_VICON_V_SD: SITL vicon velocity standard deviation for gaussian noise¶

Note: This parameter is for advanced users

SITL vicon velocity standard deviation for gaussian noise

Units
meters per second

SIM_VICON_YAW: SITL vicon yaw angle in earth frame¶

Note: This parameter is for advanced users

SITL vicon yaw angle in earth frame

Range	Units
0 to 360	degrees

SIM_VICON_YAWERR: SITL vicon yaw error¶

Note: This parameter is for advanced users

SITL vicon yaw added to reported yaw sent to vehicle

Range	Units
-180 to 180	degrees

SIM_VOLZ_ENA: Volz simulator enable/disable¶

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Volz simulator

Values

Value	Meaning
0	Disabled
1	Enabled

SIM_VOLZ_FMASK: Volz fail mask¶

Note: This parameter is for advanced users

fail servo at current position. Channel 1 is bit 0.

SIM_VOLZ_MASK: Volz override mask¶

Note: This parameter is for advanced users

mask of servo output channels to override with values from Volz protocol. Note these are indexed from 0 - so channel 3 (usually throttle) has value 4 in this bitmask (1<<2).

SIM_WAVE_AMP: Wave amplitude¶

Wave amplitude in SITL

Units
meters

SIM_WAVE_DIR: Wave direction¶

Direction wave is coming from

Units
degrees

SIM_WAVE_ENABLE: Wave enable¶

Wave enable and modes

Values

Value	Meaning
0	disabled
1	roll and pitch
2	roll and pitch and heave

SIM_WAVE_LENGTH: Wave length¶

Wave length in SITL

Units
meters

SIM_WAVE_SPEED: Wave speed¶

Wave speed in SITL

Units
meters per second

SIM_WIND_DIR: Direction simulated wind is coming from¶

Note: This parameter is for advanced users

Allows you to set wind direction (true deg) in sim

Units
degrees

SIM_WIND_DIR_Z: Simulated wind vertical direction¶

Note: This parameter is for advanced users

Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.

Units
degrees

SIM_WIND_SPD: Simulated Wind speed¶

Note: This parameter is for advanced users

Allows you to emulate wind in sim

Units
meters per second

SIM_WIND_T: Wind Profile Type¶

Note: This parameter is for advanced users

Selects how wind varies from surface to WIND_T_ALT

Values

Value	Meaning
0	square law
1	none
2	linear-see WIND_T_COEF

SIM_WIND_TC: Wind variation time constant¶

Note: This parameter is for advanced users

this controls the time over which wind changes take effect

Units
seconds

SIM_WIND_TURB: Simulated Wind variation¶

Note: This parameter is for advanced users

Allows you to emulate random wind variations in sim

Units
meters per second

SIM_WIND_T_ALT: Full Wind Altitude¶

Note: This parameter is for advanced users

Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level

Units
meters

SIM_WIND_T_COEF: Linear Wind Curve Coeff¶

Note: This parameter is for advanced users

For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value

SIM_WOW_PIN: Weight on Wheels Pin¶

Note: This parameter is for advanced users

SITL set this simulated pin to true if vehicle is on ground

STAT Parameters¶

STAT_BOOTCNT: Boot Count¶

Number of times board has been booted

ReadOnly
True

STAT_FLTTIME: Total FlightTime¶

Total FlightTime (seconds)

ReadOnly	Units
True	seconds

STAT_RUNTIME: Total RunTime¶

Total time autopilot has run

ReadOnly	Units
True	seconds

STAT_RESET: Statistics Reset Time¶

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)

ReadOnly	Units
True	seconds

TEMP Parameters¶

TEMP_LOG: Logging¶

Enables temperature sensor logging

Values

Value	Meaning
0	Disabled
1	Log all instances
2	Log only instances with sensor source set to None

TEMP1_ Parameters¶

TEMP1_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP1_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP1_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP1_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP1_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP1_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP1_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_ Parameters¶

TEMP2_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP2_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP2_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP2_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP2_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP2_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP2_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_ Parameters¶

TEMP3_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP3_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP3_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP3_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP3_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP3_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP3_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_ Parameters¶

TEMP4_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP4_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP4_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP4_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP4_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP4_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP4_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_ Parameters¶

TEMP5_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP5_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP5_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP5_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP5_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP5_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP5_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_ Parameters¶

TEMP6_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP6_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP6_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP6_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP6_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP6_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP6_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_ Parameters¶

TEMP7_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP7_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP7_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP7_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP7_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP7_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP7_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_ Parameters¶

TEMP8_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP8_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP8_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP8_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP8_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP8_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP8_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_ Parameters¶

TEMP9_TYPE: Temperature Sensor Type¶

Note: Reboot required after change

Enables temperature sensors

Values

Value	Meaning
0	Disabled
1	TSYS01
2	MCP9600
3	MAX31865
4	TSYS03
5	Analog
6	DroneCAN
7	MLX90614
8	SHT3x

TEMP9_BUS: Temperature sensor bus¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP9_ADDR: Temperature sensor address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP9_SRC: Sensor Source¶

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values

Value	Meaning
0	None
1	ESC
2	Motor
3	Battery Index
4	Battery ID/SerialNumber
5	CAN based Pitot tube
6	DroneCAN-out on AP_Periph

TEMP9_SRC_ID: Sensor Source Identification¶

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP9_PIN: Temperature sensor analog voltage sensing pin¶

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP9_A0: Temperature sensor analog 0th polynomial coefficient¶

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A1: Temperature sensor analog 1st polynomial coefficient¶

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A2: Temperature sensor analog 2nd polynomial coefficient¶

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A3: Temperature sensor analog 3rd polynomial coefficient¶

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A4: Temperature sensor analog 4th polynomial coefficient¶

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A5: Temperature sensor analog 5th polynomial coefficient¶

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

VISO Parameters¶

VISO_TYPE: Visual odometry camera connection type¶

Note: This parameter is for advanced users

Note: Reboot required after change

Visual odometry camera connection type

Values

Value	Meaning
0	None
1	MAVLink
2	IntelT265
3	VOXL(ModalAI)

VISO_POS_X: Visual odometry camera X position offset¶

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_POS_Y: Visual odometry camera Y position offset¶

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_POS_Z: Visual odometry camera Z position offset¶

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_ORIENT: Visual odometery camera orientation¶

Note: This parameter is for advanced users

Visual odometery camera orientation

Values

Value	Meaning
0	Forward
2	Right
4	Back
6	Left
24	Up
25	Down

VISO_SCALE: Visual odometry scaling factor¶

Note: This parameter is for advanced users

Visual odometry scaling factor applied to position estimates from sensor

VISO_DELAY_MS: Visual odometry sensor delay¶

Note: This parameter is for advanced users

Visual odometry sensor delay relative to inertial measurements

Range	Units
0 to 250	milliseconds

VISO_VEL_M_NSE: Visual odometry velocity measurement noise¶

Note: This parameter is for advanced users

Visual odometry velocity measurement noise in m/s

Range	Units
0.05 to 5.0	meters per second

VISO_POS_M_NSE: Visual odometry position measurement noise¶

Note: This parameter is for advanced users

Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)

Range	Units
0.1 to 10.0	meters

VISO_YAW_M_NSE: Visual odometry yaw measurement noise¶

Note: This parameter is for advanced users

Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)

Range	Units
0.05 to 1.0	radians

VISO_QUAL_MIN: Visual odometry minimum quality¶

Note: This parameter is for advanced users

Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown

Range	Units
-1 to 100	percent

VTX_ Parameters¶

VTX_ENABLE: Is the Video Transmitter enabled or not¶

Toggles the Video Transmitter on and off

Values

Value	Meaning
0	Disable
1	Enable

VTX_POWER: Video Transmitter Power Level¶

Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level

Range
1 to 1000

VTX_CHANNEL: Video Transmitter Channel¶

Video Transmitter Channel

Range
0 to 7

VTX_BAND: Video Transmitter Band¶

Video Transmitter Band

Values

Value	Meaning
0	Band A
1	Band B
2	Band E
3	Airwave
4	RaceBand
5	Low RaceBand
6	1G3 Band A
7	1G3 Band B
8	Band X
9	3G3 Band A
10	3G3 Band B

VTX_FREQ: Video Transmitter Frequency¶

Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL

Range	ReadOnly
1000 to 6000	True

VTX_OPTIONS: Video Transmitter Options¶

Note: This parameter is for advanced users

Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.

Bitmask

Bit	Meaning
0	Pitmode
1	Pitmode until armed
2	Pitmode when disarmed
3	Unlocked
4	Add leading zero byte to requests
5	Use 1 stop-bit in SmartAudio
6	Ignore CRC in SmartAudio
7	Ignore status updates in CRSF and blindly set VTX options

VTX_MAX_POWER: Video Transmitter Max Power Level¶

Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.

Range
25 to 1000