Complete Parameter List

Full Parameter List of Blimp latest V4.3.0 dev

You can change and check the parameters for another version:

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

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

Blimp 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

ReadOnly
True

SYSID_MYGCS: My ground station number

Note: This parameter is for advanced users

Allows restricting radio overrides to only come from my ground station

Range
1 - 255

PILOT_THR_FILT: Throttle filter cutoff

Note: This parameter is for advanced users

Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable

Increment Range Units
.5 0 - 10 hertz

PILOT_TKOFF_ALT: Pilot takeoff altitude

Altitude that altitude control modes will climb to when a takeoff is triggered with the throttle stick.

Increment Range Units
10 0.0 - 1000.0 centimeters

PILOT_THR_BHV: Throttle stick behavior

Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to “1” so motor feedback when landed starts from mid-stick instead of bottom of stick.

Bitmask Values
Bit Meaning
0 Feedback from mid stick
1 High throttle cancels landing
2 Disarm on land detection
Value Meaning
0 None
1 Feedback from mid stick
2 High throttle cancels landing
4 Disarm on land detection

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 - 30 seconds

GCS_PID_MASK: GCS PID tuning mask

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Bitmask Values
Bit Meaning
0 VELX
1 VELY
2 VELZ
3 VELYAW
4 POSX
5 POSY
6 POZ
7 POSYAW
Value Meaning
0 None
1 VELX
2 VELY
4 VELZ
8 VELYAW
16 POSX
32 POSY
64 POSZ
128 POSYAW
15 Vel only
51 XY only
204 ZYaw only
240 Pos only
255 All

FS_GCS_ENABLE: Ground Station Failsafe Enable

Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.

Values
Value Meaning
0 Disabled/NoAction
5 Land

GPS_HDOP_GOOD: GPS Hdop Good

Note: This parameter is for advanced users

GPS Hdop value at or below this value represent a good position. Used for pre-arm checks

Range
100 - 900

FS_THR_ENABLE: Throttle Failsafe Enable

The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel

Values
Value Meaning
0 Disabled
3 Enabled always Land

FS_THR_VALUE: Throttle Failsafe Value

The PWM level in microseconds on channel 3 below which throttle failsafe triggers

Increment Range Units
1 910 - 1100 PWM in microseconds

THR_DZ: Throttle deadzone

The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes

Increment Range Units
1 0 - 300 PWM in microseconds

FLTMODE1: Flight Mode 1

Flight mode when Channel 5 pwm is <= 1230

Values
Value Meaning
0 LAND
1 MANUAL
2 VELOCITY
3 LOITER

FLTMODE2: Flight Mode 2

Flight mode when Channel 5 pwm is >1230, <= 1360

Values
Value Meaning
0 LAND
1 MANUAL
2 VELOCITY
3 LOITER

FLTMODE3: Flight Mode 3

Flight mode when Channel 5 pwm is >1360, <= 1490

Values
Value Meaning
0 LAND
1 MANUAL
2 VELOCITY
3 LOITER

FLTMODE4: Flight Mode 4

Flight mode when Channel 5 pwm is >1490, <= 1620

Values
Value Meaning
0 LAND
1 MANUAL
2 VELOCITY
3 LOITER

FLTMODE5: Flight Mode 5

Flight mode when Channel 5 pwm is >1620, <= 1749

Values
Value Meaning
0 LAND
1 MANUAL
2 VELOCITY
3 LOITER

FLTMODE6: Flight Mode 6

Flight mode when Channel 5 pwm is >=1750

Values
Value Meaning
0 LAND
1 MANUAL
2 VELOCITY
3 LOITER

FLTMODE_CH: Flightmode channel

Note: This parameter is for advanced users

RC Channel to use for flight mode control

Values
Value Meaning
0 Disabled
5 Channel5
6 Channel6
7 Channel7
8 Channel8

INITIAL_MODE: Initial flight mode

Note: This parameter is for advanced users

This selects the mode to start in on boot.

Values
Value Meaning
0 LAND
1 MANUAL
2 VELOCITY
3 LOITER

LOG_BITMASK: Log bitmask

4 byte bitmap of log types to enable

Bitmask
Bit Meaning
0 ATTITUDE_FAST
1 ATTITUDE_MED
2 GPS
3 PM
4 CTUN
5 NTUN
6 RCIN
7 IMU
8 CMD
9 CURRENT
10 RCOUT
11 OPTFLOW
12 PID
13 COMPASS
14 INAV
15 CAMERA
17 MOTBATT
18 IMU_FAST
19 IMU_RAW

DISARM_DELAY: Disarm delay

Note: This parameter is for advanced users

Delay before automatic disarm in seconds. A value of zero disables auto disarm.

Range Units
0 - 127 seconds

FS_EKF_ACTION: EKF Failsafe Action

Note: This parameter is for advanced users

Controls the action that will be taken when an EKF failsafe is invoked

Values
Value Meaning
1 Land
3 Land even in MANUAL

FS_EKF_THRESH: EKF failsafe variance threshold

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance

Values
Value Meaning
0.6 Strict
0.8 Default
1.0 Relaxed

FS_CRASH_CHECK: Crash check enable

Note: This parameter is for advanced users

This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.

Values
Value Meaning
0 Disabled
1 Enabled

MAX_VEL_XY: Max XY Velocity

Sets the maximum XY velocity, in m/s

Range
0.2 - 5

MAX_VEL_Z: Max Z Velocity

Sets the maximum Z velocity, in m/s

Range
0.2 - 5

MAX_VEL_YAW: Max yaw Velocity

Sets the maximum yaw velocity, in rad/s

Range
0.2 - 5

MAX_POS_XY: Max XY Position change

Sets the maximum XY position change, in m/s

Range
0.1 - 5

MAX_POS_Z: Max Z Position change

Sets the maximum Z position change, in m/s

Range
0.1 - 5

MAX_POS_YAW: Max Yaw Position change

Sets the maximum Yaw position change, in rad/s

Range
0.1 - 5

SIMPLE_MODE: Simple mode

Simple mode for Position control - “forward” moves blimp in +ve X direction world-frame

Values
Value Meaning
0 Disabled
1 Enabled

DIS_MASK: Disable output mask

Mask for disabling one or more of the 4 output axis in mode Velocity or Loiter

Bitmask Values
Bit Meaning
0 Right
1 Front
2 Down
3 Yaw
Value Meaning
0 All enabled
1 Right
2 Front
4 Down
8 Yaw
3 Down and Yaw only
12 Front & Right only

RC_SPEED: ESC Update Speed

Note: This parameter is for advanced users

This is the speed in Hertz that your ESCs will receive updates

Increment Range Units
1 50 - 490 hertz

VELXY_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration

Increment Range
0.1 0.1 - 6.0

VELXY_I: Velocity (horizontal) I gain

Note: This parameter is for advanced users

Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

Increment Range
0.01 0.02 - 1.00

VELXY_D: Velocity (horizontal) D gain

Note: This parameter is for advanced users

Velocity (horizontal) D gain. Corrects short-term changes in velocity

Increment Range
0.001 0.00 - 1.00

VELXY_IMAX: Velocity (horizontal) integrator maximum

Note: This parameter is for advanced users

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

Increment Range Units
10 0 - 4500 centimeters per square second

VELXY_FLTE: Velocity (horizontal) input filter

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms

Range Units
0 - 100 hertz

VELXY_FLTD: Velocity (horizontal) input filter

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term

Range Units
0 - 100 hertz

VELXY_FF: Velocity (horizontal) feed forward gain

Note: This parameter is for advanced users

Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration

Increment Range
0.01 0 - 6

VELZ_P: Velocity (vertical) P gain

Note: This parameter is for advanced users

Velocity (vertical) P gain. Converts the difference between desired and actual velocity to a target acceleration

Increment Range
0.1 0.1 - 6.0

VELZ_I: Velocity (vertical) I gain

Note: This parameter is for advanced users

Velocity (vertical) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

Increment Range
0.01 0.02 - 1.00

VELZ_D: Velocity (vertical) D gain

Note: This parameter is for advanced users

Velocity (vertical) D gain. Corrects short-term changes in velocity

Increment Range
0.001 0.00 - 1.00

VELZ_IMAX: Velocity (vertical) integrator maximum

Note: This parameter is for advanced users

Velocity (vertical) integrator maximum. Constrains the target acceleration that the I gain will output

Increment Range Units
10 0 - 4500 centimeters per square second

VELZ_FLTE: Velocity (vertical) input filter

Note: This parameter is for advanced users

Velocity (vertical) input filter. This filter (in Hz) is applied to the input for P and I terms

Range Units
0 - 100 hertz

VELZ_FLTD: Velocity (vertical) input filter

Note: This parameter is for advanced users

Velocity (vertical) input filter. This filter (in Hz) is applied to the input for D term

Range Units
0 - 100 hertz

VELZ_FF: Velocity (vertical) feed forward gain

Note: This parameter is for advanced users

Velocity (vertical) feed forward gain. Converts the difference between desired velocity to a target acceleration

Increment Range
0.01 0 - 6

VELYAW_P: Velocity (yaw) P gain

Note: This parameter is for advanced users

Velocity (yaw) P gain. Converts the difference between desired and actual velocity to a target acceleration

Increment Range
0.1 0.1 - 6.0

VELYAW_I: Velocity (yaw) I gain

Note: This parameter is for advanced users

Velocity (yaw) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

Increment Range
0.01 0.02 - 1.00

VELYAW_D: Velocity (yaw) D gain

Note: This parameter is for advanced users

Velocity (yaw) D gain. Corrects short-term changes in velocity

Increment Range
0.001 0.00 - 1.00

VELYAW_IMAX: Velocity (yaw) integrator maximum

Note: This parameter is for advanced users

Velocity (yaw) integrator maximum. Constrains the target acceleration that the I gain will output

Increment Range Units
10 0 - 4500 centimeters per square second

VELYAW_FLTE: Velocity (yaw) input filter

Note: This parameter is for advanced users

Velocity (yaw) input filter. This filter (in Hz) is applied to the input for P and I terms

Range Units
0 - 100 hertz

VELYAW_FF: Velocity (yaw) feed forward gain

Note: This parameter is for advanced users

Velocity (yaw) feed forward gain. Converts the difference between desired velocity to a target acceleration

Increment Range
0.01 0 - 6

POSXY_P: Position (horizontal) P gain

Note: This parameter is for advanced users

Position (horizontal) P gain. Converts the difference between desired and actual position to a target velocity

Increment Range
0.1 0.1 - 6.0

POSXY_I: Position (horizontal) I gain

Note: This parameter is for advanced users

Position (horizontal) I gain. Corrects long-term difference between desired and actual position to a target velocity

Increment Range
0.01 0.02 - 1.00

POSXY_D: Position (horizontal) D gain

Note: This parameter is for advanced users

Position (horizontal) D gain. Corrects short-term changes in position

Increment Range
0.001 0.00 - 1.00

POSXY_IMAX: Position (horizontal) integrator maximum

Note: This parameter is for advanced users

Position (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

Increment Range Units
10 0 - 4500 centimeters per square second

POSXY_FLTE: Position (horizontal) input filter

Note: This parameter is for advanced users

Position (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms

Range Units
0 - 100 hertz

POSXY_FLTD: Position (horizontal) input filter

Note: This parameter is for advanced users

Position (horizontal) input filter. This filter (in Hz) is applied to the input for D term

Range Units
0 - 100 hertz

POSXY_FF: Position (horizontal) feed forward gain

Note: This parameter is for advanced users

Position (horizontal) feed forward gain. Converts the difference between desired position to a target velocity

Increment Range
0.01 0 - 6

POSZ_P: Position (vertical) P gain

Note: This parameter is for advanced users

Position (vertical) P gain. Converts the difference between desired and actual position to a target velocity

Increment Range
0.1 0.1 - 6.0

POSZ_I: Position (vertical) I gain

Note: This parameter is for advanced users

Position (vertical) I gain. Corrects long-term difference between desired and actual position to a target velocity

Increment Range
0.01 0.02 - 1.00

POSZ_D: Position (vertical) D gain

Note: This parameter is for advanced users

Position (vertical) D gain. Corrects short-term changes in position

Increment Range
0.001 0.00 - 1.00

POSZ_IMAX: Position (vertical) integrator maximum

Note: This parameter is for advanced users

Position (vertical) integrator maximum. Constrains the target acceleration that the I gain will output

Increment Range Units
10 0 - 4500 centimeters per square second

POSZ_FLTE: Position (vertical) input filter

Note: This parameter is for advanced users

Position (vertical) input filter. This filter (in Hz) is applied to the input for P and I terms

Range Units
0 - 100 hertz

POSZ_FLTD: Position (vertical) input filter

Note: This parameter is for advanced users

Position (vertical) input filter. This filter (in Hz) is applied to the input for D term

Range Units
0 - 100 hertz

POSZ_FF: Position (vertical) feed forward gain

Note: This parameter is for advanced users

Position (vertical) feed forward gain. Converts the difference between desired position to a target velocity

Increment Range
0.01 0 - 6

POSYAW_P: Position (yaw) axis controller P gain

Position (yaw) axis controller P gain.

Increment Range
0.01 0.0 - 3.0

POSYAW_I: Position (yaw) axis controller I gain

Position (yaw) axis controller I gain.

Increment Range
0.01 0.0 - 3.0

POSYAW_IMAX: Position (yaw) axis controller I gain maximum

Position (yaw) axis controller I gain maximum.

Increment Range Units
10 0 - 4000 decipercent

POSYAW_D: Position (yaw) axis controller D gain

Position (yaw) axis controller D gain.

Increment Range
0.001 0.001 - 0.1

POSYAW_FF: Position (yaw) axis controller feed forward

Position (yaw) axis controller feed forward

Increment Range
0.001 0 - 0.5

POSYAW_FLTT: Position (yaw) target frequency filter in Hz

Position (yaw) target frequency filter in Hz

Increment Range Units
1 1 - 50 hertz

POSYAW_FLTE: Position (yaw) error frequency filter in Hz

Position (yaw) error frequency filter in Hz

Increment Range Units
1 1 - 100 hertz

POSYAW_FLTD: Position (yaw) derivative input filter in Hz

Position (yaw) derivative input filter in Hz

Increment Range Units
1 1 - 100 hertz

POSYAW_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.

Increment Range
0.5 0 - 200

DEV_OPTIONS: Development options

Note: This parameter is for advanced users

Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning

Bitmask
Bit Meaning
0 Unknown

SYSID_ENFORCE: GCS sysid enforcement

Note: This parameter is for advanced users

This controls whether packets from other than the expected GCS system ID will be accepted

Values
Value Meaning
0 NotEnforced
1 Enforced

FRAME_CLASS: Frame Class

Note: Reboot required after change

Controls major frame class for blimp.

Values
Value Meaning
0 Finnedblimp

PILOT_SPEED_DN: Pilot maximum vertical speed descending

The maximum vertical descending velocity the pilot may request in cm/s

Increment Range Units
10 50 - 500 centimeters per second

FS_VIBE_ENABLE: Vibration Failsafe enable

This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations

Values
Value Meaning
0 Disabled
1 Enabled

FS_OPTIONS: Failsafe options bitmask

Note: This parameter is for advanced users

Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.

Bitmask Values
Bit Meaning
4 Continue if in pilot controlled modes on GCS failsafe
Value Meaning
0 Disabled
16 Continue if in pilot controlled modes on GCS failsafe

FS_GCS_TIMEOUT: GCS failsafe timeout

Timeout before triggering the GCS failsafe

Increment Range Units
1 2 - 120 seconds

AHRS_ Parameters

AHRS_GPS_GAIN: AHRS GPS gain

Note: This parameter is for advanced users

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

Increment Range
.01 0.0 - 1.0

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

Note: This parameter is for advanced users

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

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

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

Increment Range
.01 0.1 - 0.4

AHRS_RP_P: AHRS RP_P

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Increment Range
.01 0.1 - 0.4

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 127 meters per second

AHRS_TRIM_X: AHRS Trim Roll

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

Increment Range Units
0.01 -0.1745 - +0.1745 radians

AHRS_TRIM_Y: AHRS Trim Pitch

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

Increment Range Units
0.01 -0.1745 - +0.1745 radians

AHRS_TRIM_Z: AHRS Trim Yaw

Note: This parameter is for advanced users

Not Used

Increment Range Units
0.01 -0.1745 - +0.1745 radians

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

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

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

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Increment Range
.01 0.001 - 0.5

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

Increment Range
1 0 - 10

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

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

AHRS_CUSTOM_ROLL: Board orientation roll offset

Note: This parameter is for advanced users

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

Increment Range Units
1 -180 - 180 degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset

Note: This parameter is for advanced users

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

Increment Range Units
1 -180 - 180 degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset

Note: This parameter is for advanced users

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

Increment Range Units
1 -180 - 180 degrees

ARMING_ Parameters

ARMING_ACCTHRESH: Accelerometer error threshold

Note: This parameter is for advanced users

Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.

Range Units
0.25 - 3.0 meters per square second

ARMING_RUDDER: Arming with Rudder enable/disable

Note: This parameter is for advanced users

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)

Values
Value Meaning
0 Disabled
1 ArmingOnly
2 ArmOrDisarm

ARMING_MIS_ITEMS: Required mission items

Note: This parameter is for advanced users

Bitmask of mission items that are required to be planned in order to arm the aircraft

Bitmask
Bit Meaning
0 Land
1 VTOL Land
2 DO_LAND_START
3 Takeoff
4 VTOL Takeoff
5 Rallypoint

ARMING_CHECK: Arm Checks to Perform (bitmask)

Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.

Bitmask
Bit Meaning
0 All
1 Barometer
2 Compass
3 GPS lock
4 INS
5 Parameters
6 RC Channels
7 Board voltage
8 Battery Level
10 Logging Available
11 Hardware safety switch
12 GPS Configuration
13 System
14 Mission
15 Rangefinder
16 Camera
17 AuxAuth
18 VisualOdometry
19 FFT

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
100 SITL

ARSPD_DEVID: Airspeed ID

Note: This parameter is for advanced users

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

ReadOnly
True

ARSPD_USE: Airspeed use

This parameter is not used by this vehicle. Always set to 0.

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. Set to 15 on the Pixhawk for the analog airspeed port.

ARSPD_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0.

Note: This parameter is for advanced users

Enables automatic adjustment of ARSPD_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_ORDER: Control pitot tube order

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Values
Value Meaning
0 Normal
1 Swapped
2 Auto Detect

ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

Values
Value Meaning
0 Disable
1 Enable

ARSPD_PSI_RANGE: The PSI range of the device

Note: This parameter is for advanced users

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

ARSPD_BUS: Airspeed I2C bus

Note: This parameter is for advanced users

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

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

ARSPD_PRIMARY: Primary airspeed sensor

Note: This parameter is for advanced users

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

Values
Value Meaning
0 FirstSensor
1 2ndSensor

ARSPD_OPTIONS: Airspeed options bitmask

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

Bitmask
Bit Meaning
0 SpeedMismatchDisable
1 AllowSpeedMismatchRecovery
2 DisableVoltageCorrection

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

Units
meters per second

ARSPD_WIND_WARN: Airspeed and ground speed difference that gives a warning

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

Units
meters per second

ARSPD2_TYPE: Second Airspeed type

Type of 2nd airspeed sensor

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

ARSPD2_USE: Enable use of 2nd airspeed sensor

This parameter and function is not used by this vehicle. Always set to 0.

Values
Value Meaning
0 Don’t Use
1 use
2 UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment
0.1

ARSPD2_PIN: Airspeed pin for 2nd airspeed sensor

Note: This parameter is for advanced users

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

ARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

ARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Values
Value Meaning
0 Normal
1 Swapped
2 Auto Detect

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

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

Values
Value Meaning
0 Disable
1 Enable

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

Note: This parameter is for advanced users

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

ARSPD2_BUS: Airspeed I2C bus for 2nd sensor

Note: This parameter is for advanced users

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

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

ARSPD2_DEVID: Airspeed2 ID

Note: This parameter is for advanced users

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

ReadOnly
True

BARO Parameters

BARO1_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment ReadOnly Units Volatile
1 True pascal True

BARO_GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Increment Units Volatile
1 degrees Celsius True

BARO_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

Increment Units
0.1 meters

BARO_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

Values
Value Meaning
0 FirstBaro
1 2ndBaro
2 3rdBaro

BARO_EXT_BUS: External baro bus

Note: This parameter is for advanced users

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

Values
Value Meaning
-1 Disabled
0 Bus0
1 Bus1

BARO2_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment ReadOnly Units Volatile
1 True pascal True

BARO3_GND_PRESS: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment ReadOnly Units Volatile
1 True pascal True

BARO_FLTR_RNG: Range in which sample is accepted

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

Increment Range Units
1 0 - 100 percent

BARO_PROBE_EXT: External barometers to probe

Note: This parameter is for advanced users

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

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

BARO1_DEVID: Baro ID

Note: This parameter is for advanced users

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

ReadOnly
True

BARO2_DEVID: Baro ID2

Note: This parameter is for advanced users

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

ReadOnly
True

BARO3_DEVID: Baro ID3

Note: This parameter is for advanced users

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

ReadOnly
True

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. A value of 0 means no correction for takeoff height above sea level is performed.

Increment Units Volatile
0.1 meters True

BARO1_WCF_ Parameters

BARO1_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning
0 Disabled
1 Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

BARO2_WCF_ Parameters

BARO2_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning
0 Disabled
1 Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

BARO3_WCF_ Parameters

BARO3_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning
0 Disabled
1 Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment Range
0.05 -1.0 - 1.0

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT2_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT2_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT2_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT2_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT2_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT2_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT2_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT2_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT2_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT2_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT2_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT2_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT2_SUM_MASK: Battery Sum mask

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

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

BATT2_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BATT3_ Parameters

BATT3_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT3_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT3_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT3_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT3_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT3_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT3_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT3_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT3_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT3_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT3_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT3_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT3_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT3_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT3_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT3_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT3_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT3_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT3_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT3_SUM_MASK: Battery Sum mask

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

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

BATT3_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BATT4_ Parameters

BATT4_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT4_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT4_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT4_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT4_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT4_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT4_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT4_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT4_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT4_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT4_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT4_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT4_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT4_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT4_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT4_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT4_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT4_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT4_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT4_SUM_MASK: Battery Sum mask

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

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

BATT4_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BATT5_ Parameters

BATT5_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT5_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT5_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT5_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT5_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT5_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT5_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT5_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT5_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT5_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT5_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT5_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT5_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT5_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT5_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT5_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT5_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT5_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT5_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT5_SUM_MASK: Battery Sum mask

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

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

BATT5_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BATT6_ Parameters

BATT6_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT6_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT6_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT6_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT6_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT6_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT6_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT6_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT6_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT6_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT6_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT6_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT6_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT6_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT6_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT6_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT6_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT6_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT6_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT6_SUM_MASK: Battery Sum mask

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

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

BATT6_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BATT7_ Parameters

BATT7_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT7_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT7_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT7_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT7_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT7_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT7_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT7_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT7_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT7_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT7_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT7_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT7_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT7_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT7_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT7_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT7_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT7_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT7_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT7_SUM_MASK: Battery Sum mask

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

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

BATT7_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BATT8_ Parameters

BATT8_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT8_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT8_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT8_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT8_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT8_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT8_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT8_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT8_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT8_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT8_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT8_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT8_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT8_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT8_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT8_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT8_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT8_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT8_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT8_SUM_MASK: Battery Sum mask

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

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

BATT8_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BATT9_ Parameters

BATT9_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT9_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT9_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT9_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT9_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT9_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT9_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT9_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT9_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT9_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT9_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT9_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT9_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT9_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT9_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT9_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT9_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT9_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT9_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT9_SUM_MASK: Battery Sum mask

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

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

BATT9_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BATT_ Parameters

BATT_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

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

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment Units
50 milliampere hour

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment Range Units
1 0 - 120 seconds

BATT_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning
0 Raw Voltage
1 Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage

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

Increment Units
0.1 volt

BATT_LOW_MAH: Low battery capacity

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

Increment Units
50 milliampere hour

BATT_CRT_VOLT: Critical battery voltage

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

Increment Units
0.1 volt

BATT_CRT_MAH: Battery critical capacity

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

Increment Units
50 milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning
0 None
1 Land

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
1 Land

BATT_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment Units
0.1 volt

BATT_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment Units
50 milliampere hour

BATT_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

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

BATT_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

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

BATT_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT_SUM_MASK: Battery Sum mask

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

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

BATT_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range
.1 - 10

BRD_ Parameters

BRD_SER1_RTSCTS: Serial 1 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values
Value Meaning
0 Disabled
1 Enabled
2 Auto

BRD_SER2_RTSCTS: Serial 2 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values
Value Meaning
0 Disabled
1 Enabled
2 Auto

BRD_SER3_RTSCTS: Serial 3 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values
Value Meaning
0 Disabled
1 Enabled
2 Auto

BRD_SER4_RTSCTS: Serial 4 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

Values
Value Meaning
0 Disabled
1 Enabled
2 Auto

BRD_SER5_RTSCTS: Serial 5 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

Values
Value Meaning
0 Disabled
1 Enabled
2 Auto

BRD_SAFETYENABLE: Enable use of safety arming switch

Note: Reboot required after change

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

Values
Value Meaning
0 Disabled
1 Enabled

BRD_SBUS_OUT: SBUS output rate

Note: This parameter is for advanced users
Note: Reboot required after change

This sets the SBUS output frame rate in Hz

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

BRD_SERIAL_NUM: User-defined serial number

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

Range
-8388608 - 8388607

BRD_SAFETY_MASK: Outputs which ignore the safety switch state

Note: This parameter is for advanced users
Note: Reboot required after change

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

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

BRD_HEAT_TARG: Board heater temperature target

Note: This parameter is for advanced users

Board heater target temperature for boards with controllable heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.

Range Units
-1 - 80 degrees Celsius

BRD_TYPE: Board type

Note: This parameter is for advanced users
Note: Reboot required after change

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

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

BRD_IO_ENABLE: Enable IO co-processor

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values
Value Meaning
0 Disabled
1 Enabled

BRD_SAFETYOPTION: Options for safety button behavior

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

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

BRD_VBUS_MIN: Autopilot board voltage requirement

Note: This parameter is for advanced users

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

Increment Range Units
0.1 4.0 - 5.5 volt

BRD_VSERVO_MIN: Servo voltage requirement

Note: This parameter is for advanced users

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

Increment Range Units
0.1 3.3 - 12.0 volt

BRD_SD_SLOWDOWN: microSD slowdown

Note: This parameter is for advanced users

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

Increment Range
1 0 - 32

BRD_PWM_VOLT_SEL: Set PWM Out Voltage

Note: This parameter is for advanced users

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

Values
Value Meaning
0 3.3V
1 5V

BRD_OPTIONS: Board options

Note: This parameter is for advanced users

Board specific option flags

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

BRD_BOOT_DELAY: Boot delay

Note: This parameter is for advanced users

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

Range Units
0 - 10000 milliseconds

BRD_HEAT_P: Board Heater P gain

Note: This parameter is for advanced users

Board Heater P gain

Increment Range
1 1 - 500

BRD_HEAT_I: Board Heater I gain

Note: This parameter is for advanced users

Board Heater integrator gain

Increment Range
0.1 0 - 1

BRD_HEAT_IMAX: Board Heater IMAX

Note: This parameter is for advanced users

Board Heater integrator maximum

Increment Range
1 0 - 100

BRD_ALT_CONFIG: Alternative HW config

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment Range
1 0 - 10

BRD_HEAT_LOWMGN: Board heater temp lower margin

Note: This parameter is for advanced users

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

Range Units
0 - 20 degrees Celsius

BRD_RADIO Parameters

BRD_RADIO_TYPE: Set type of direct attached radio

This enables support for direct attached radio receivers

Values
Value Meaning
0 None
1 CYRF6936
2 CC2500
3 BK2425

BRD_RADIO_PROT: protocol

Note: This parameter is for advanced users

Select air protocol

Values
Value Meaning
0 Auto
1 DSM2
2 DSMX

BRD_RADIO_DEBUG: debug level

Note: This parameter is for advanced users

radio debug level

Range
0 - 4

BRD_RADIO_DISCRC: disable receive CRC

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values
Value Meaning
0 NotDisabled
1 Disabled

BRD_RADIO_SIGCH: RSSI signal strength

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_PPSCH: Packet rate channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TELEM: Enable telemetry

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power

Note: This parameter is for advanced users

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

Range
1 - 8

BRD_RADIO_FCCTST: Put radio into FCC test mode

Note: This parameter is for advanced users

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

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

BRD_RADIO_STKMD: Stick input mode

Note: This parameter is for advanced users

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

Values
Value Meaning
1 Mode1
2 Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel

Note: This parameter is for advanced users

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

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

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 - 40

BRD_RADIO_ABTIME: Auto-bind time

Note: This parameter is for advanced users

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

Range
0 - 120

BRD_RADIO_ABLVL: Auto-bind level

Note: This parameter is for advanced users

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

Range
0 - 31

BRD_RTC Parameters

BRD_RTC_TYPES: Allowed sources of RTC time

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask
Bit Meaning
0 GPS
1 MAVLINK_SYSTEM_TIME
2 HW

BRD_RTC_TZ_MIN: Timezone offset from UTC

Note: This parameter is for advanced users

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

Range
-720 - +840

CAM_RC_ Parameters

CAM_RC_TYPE: RunCam device type

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

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

CAM_RC_FEATURES: RunCam features available

Note: This parameter is for advanced users

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

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

CAM_RC_BT_DELAY: RunCam boot delay before allowing updates

Note: This parameter is for advanced users

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

CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses

Note: This parameter is for advanced users

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

CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses

Note: This parameter is for advanced users

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

CAM_RC_CONTROL: RunCam control option

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu

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

CAN_ Parameters

CAN_LOGLEVEL: Loglevel

Note: This parameter is for advanced users

Loglevel for recording initialisation and debug information from CAN Interface

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

CAN_D1_ Parameters

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users
Note: Reboot required after change

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

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

CAN_D1_KDE_ Parameters

CAN_D1_KDE_NPOLE: Number of motor poles

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

CAN_D1_PC_ Parameters

CAN_D1_PC_ESC_BM: ESC channels

Note: This parameter is for advanced users

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

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

CAN_D1_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

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

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

CAN_D1_PC_SRV_RT: Servo command output rate

Note: This parameter is for advanced users

Output rate of servo command messages

Range Units
1 - 500 hertz

CAN_D1_TST_ Parameters

CAN_D1_TST_ID: CAN Test Index

Note: This parameter is for advanced users

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

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

CAN_D1_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D1_UC_ Parameters

CAN_D1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

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

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

Note: This parameter is for advanced users

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

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

CAN_D1_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning
0 ClearDNADatabase
1 IgnoreDNANodeConflicts
2 EnableCanfd

CAN_D1_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range Units
1 - 200 hertz

CAN_D1_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range
0 - 18

CAN_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 - 16384

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
5 CANTester
6 EFI_NWPMU
7 USD1
8 KDECAN
10 Scripting
11 Benewake

CAN_D2_KDE_ Parameters

CAN_D2_KDE_NPOLE: Number of motor poles

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

CAN_D2_PC_ Parameters

CAN_D2_PC_ESC_BM: ESC channels

Note: This parameter is for advanced users

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

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

CAN_D2_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

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

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

CAN_D2_PC_SRV_RT: Servo command output rate

Note: This parameter is for advanced users

Output rate of servo command messages

Range Units
1 - 500 hertz

CAN_D2_TST_ Parameters

CAN_D2_TST_ID: CAN Test Index

Note: This parameter is for advanced users

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

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

CAN_D2_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D2_UC_ Parameters

CAN_D2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

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

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

Note: This parameter is for advanced users

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

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

CAN_D2_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning
0 ClearDNADatabase
1 IgnoreDNANodeConflicts
2 EnableCanfd

CAN_D2_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range Units
1 - 200 hertz

CAN_D2_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range
0 - 18

CAN_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 - 16384

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
5 CANTester
6 EFI_NWPMU
7 USD1
8 KDECAN
10 Scripting
11 Benewake

CAN_D3_KDE_ Parameters

CAN_D3_KDE_NPOLE: Number of motor poles

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

CAN_D3_PC_ Parameters

CAN_D3_PC_ESC_BM: ESC channels

Note: This parameter is for advanced users

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

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

CAN_D3_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

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

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

CAN_D3_PC_SRV_RT: Servo command output rate

Note: This parameter is for advanced users

Output rate of servo command messages

Range Units
1 - 500 hertz

CAN_D3_TST_ Parameters

CAN_D3_TST_ID: CAN Test Index

Note: This parameter is for advanced users

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

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

CAN_D3_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D3_UC_ Parameters

CAN_D3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

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

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

Note: This parameter is for advanced users

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

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

CAN_D3_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning
0 ClearDNADatabase
1 IgnoreDNANodeConflicts
2 EnableCanfd

CAN_D3_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range Units
1 - 200 hertz

CAN_D3_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range
0 - 18

CAN_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 - 16384

CAN_P1_ Parameters

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

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

CAN_P1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P1_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

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

CAN_P2_ Parameters

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

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

CAN_P2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P2_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

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

CAN_P3_ Parameters

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

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

CAN_P3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P3_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

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

CAN_SLCAN_ Parameters

CAN_SLCAN_CPORT: SLCAN Route

Note: Reboot required after change

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

Values
Value Meaning
0 Disabled
1 First interface
2 Second interface

CAN_SLCAN_SERNUM: SLCAN Serial Port

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

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

CAN_SLCAN_TIMOUT: SLCAN Timeout

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

Range
0 - 127

CAN_SLCAN_SDELAY: SLCAN Start Delay

Duration after which slcan starts after setting SERNUM in seconds.

Range
0 - 127

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment Range Units
1 -400 - 400 milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Increment Range Units
0.01 -3.142 - 3.142 radians

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

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

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

COMPASS_USE: Use compass for yaw

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_AUTODEC: Auto Declination

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_MOTCT: Motor interference compensation type

Note: This parameter is for advanced users

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

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

COMPASS_MOT_X: Motor interference compensation for body frame X axis

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

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

Increment Range Units
1 -1000 - 1000 milligauss per ampere

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment Range Units
1 -400 - 400 milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment Range Units
1 -1000 - 1000 milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration Increment Range Units
1 1 -400 - 400 milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment Range Units
1 -400 - 400 milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment Range Units
1 -1000 - 1000 milligauss per ampere

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_USE2: Compass2 used for yaw

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_ORIENT2: Compass2 orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

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

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

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Internal
1 External
2 ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

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

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

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

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

Increment Range
1 500 - 3000

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

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

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

COMPASS_FLTR_RNG: Range in which sample is accepted

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

Increment Range Units
1 0 - 100 percent

COMPASS_AUTO_ROT: Automatically check orientation

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

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

COMPASS_PRIO1_ID: Compass device id with 1st order priority

Note: This parameter is for advanced users
Note: Reboot required after change

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

COMPASS_PRIO2_ID: Compass device id with 2nd order priority

Note: This parameter is for advanced users
Note: Reboot required after change

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

COMPASS_PRIO3_ID: Compass device id with 3rd order priority

Note: This parameter is for advanced users
Note: Reboot required after change

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

COMPASS_ENABLE: Enable Compass

Note: Reboot required after change

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

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_SCALE: Compass1 scale factor

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

Range
0 - 1.3

COMPASS_SCALE2: Compass2 scale factor

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

Range
0 - 1.3

COMPASS_SCALE3: Compass3 scale factor

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

Range
0 - 1.3

COMPASS_OPTIONS: Compass options

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask
Bit Meaning
0 CalRequireGPS

COMPASS_DEV_ID4: Compass4 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID5: Compass5 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID6: Compass6 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID7: Compass7 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID8: Compass8 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_CUS_ROLL: Custom orientation roll offset

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment Range Units
1 -180 - 180 degrees

COMPASS_CUS_PIT: Custom orientation pitch offset

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment Range Units
1 -180 - 180 degrees

COMPASS_CUS_YAW: Custom orientation yaw offset

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment Range Units
1 -180 - 180 degrees

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values
Value Meaning
0 Disabled
1 Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

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

Increment Range
0.01 0 - 2

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

CUST_ROT Parameters

CUST_ROT_ENABLE: Enable Custom rotations

Note: Reboot required after change

This enables custom rotations

Values
Value Meaning
0 Disable
1 Enable

CUST_ROT1_ Parameters

CUST_ROT1_ROLL: Custom roll

Note: Reboot required after change

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

Units
degrees

CUST_ROT1_PITCH: Custom pitch

Note: Reboot required after change

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

Units
degrees

CUST_ROT1_YAW: Custom yaw

Note: Reboot required after change

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

Units
degrees

CUST_ROT2_ Parameters

CUST_ROT2_ROLL: Custom roll

Note: Reboot required after change

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

Units
degrees

CUST_ROT2_PITCH: Custom pitch

Note: Reboot required after change

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

Units
degrees

CUST_ROT2_YAW: Custom yaw

Note: Reboot required after change

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

Units
degrees

EAHRS Parameters

EAHRS_TYPE: AHRS type

Type of AHRS device

Values
Value Meaning
0 None
1 VectorNav
2 LORD

EAHRS_RATE: AHRS data rate

Requested rate for AHRS device

Units
hertz

EFI Parameters

EFI_TYPE: EFI communication type

Note: This parameter is for advanced users
Note: Reboot required after change

What method of communication is used for EFI #1

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

EFI_COEF1: EFI Calibration Coefficient 1

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle

Range
0 - 1

EFI_COEF2: EFI Calibration Coefficient 2

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1

Range
0 - 10

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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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_CM). 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 10

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 - 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 - 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.

Increment Range
25 100 - 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 - 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.

Increment Range
25 100 - 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.

Increment Range Units
5 10 - 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.

Increment Range Units
0.1 0.1 - 10.0 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.

Increment Range
25 100 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 0.005 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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_CM) 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 - 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 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 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 - 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 - 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 postive 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 - 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 postive 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 - 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 esitmation 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 - 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 postive 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 - 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 - 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 - 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 - 2

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

ESC_TLM Parameters

FFT_ Parameters

FFT_ENABLE: Enable

Note: This parameter is for advanced users
Note: Reboot required after change

Enable Gyro FFT analyser

Values
Value Meaning
0 Disabled
1 Enabled

FFT_MINHZ: Minimum Frequency

Note: This parameter is for advanced users

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

Range Units
20 - 400 hertz

FFT_MAXHZ: Maximum Frequency

Note: This parameter is for advanced users

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

Range Units
20 - 495 hertz

FFT_SAMPLE_MODE: Sample Mode

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range
0 - 4

FFT_WINDOW_SIZE: FFT window size

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range
32 - 1024

FFT_WINDOW_OLAP: FFT window overlap

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range
0 - 0.9

FFT_FREQ_HOVER: FFT learned hover frequency

Note: This parameter is for advanced users

The learned hover noise frequency

Range
0 - 250

FFT_THR_REF: FFT learned thrust reference

Note: This parameter is for advanced users

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

Range
0.01 - 0.9

FFT_SNR_REF: FFT SNR reference threshold

Note: This parameter is for advanced users

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

Range
0.0 - 100.0

FFT_ATT_REF: FFT attenuation for bandwidth calculation

Note: This parameter is for advanced users

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

Range
0 - 100

FFT_BW_HOVER: FFT learned bandwidth at hover

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

Range
0 - 200

FFT_HMNC_FIT: FFT harmonic fit frequency threshold

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range
0 - 100

FFT_HMNC_PEAK: FFT harmonic peak target

Note: This parameter is for advanced users

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

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

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 - 8

FINS_ Parameters

FINS_FREQ_HZ: Fins frequency

This is the oscillation frequency of the fins

Range
1 - 10

FINS_TURBO_MODE: Enable turbo mode

Enables double speed on high offset.

Range
0 - 1

FRSKY_ Parameters

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

GEN_OPTIONS: Generator Options

Bitmask of options for generators

Bitmask
Bit Meaning
0 Supress Maintenance-Required Warnings

GPS Parameters

GPS_TYPE: 1st GPS type

Note: This parameter is for advanced users
Note: Reboot required after change

GPS type of 1st GPS

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

GPS_TYPE2: 2nd GPS type

Note: This parameter is for advanced users
Note: Reboot required after change

GPS type of 2nd GPS

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

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

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

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to ‘UseBest’ behaviour if 3D fix is lost on primary

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

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values
Value Meaning
0 Any
50 FloatRTK
100 IntegerRTK

GPS_SBAS_MODE: SBAS Mode

Note: This parameter is for advanced users

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

Values
Value Meaning
0 Disabled
1 Enabled
2 NoChange

GPS_MIN_ELEV: Minimum elevation

Note: This parameter is for advanced users

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

Range Units
-100 - 90 degrees

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

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

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

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users
Note: Reboot required after change

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

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

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

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

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

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

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

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

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

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

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

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment Range Units
0.01 -5 - 5 meters

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range Units
0 - 250 milliseconds

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range Units
0 - 250 milliseconds

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning
0 Horiz Pos
1 Vert Pos
2 Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

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

Range Units
5.0 - 30.0 seconds

GPS_DRV_OPTIONS: driver options

Note: This parameter is for advanced users

Additional backend specific options

Bitmask
Bit Meaning
0 Use UART2 for moving baseline on ublox
1 Use base station for GPS yaw on SBF
2 Use baudrate 115200
3 Use dedicated CAN port b/w GPSes for moving baseline
4 Use ellipsoid height instead of AMSL for uBlox driver

GPS_COM_PORT: GPS physical COM port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment Range
1 0 - 10

GPS_COM_PORT2: GPS physical COM port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment Range
1 0 - 10

GPS_PRIMARY: Primary GPS

Note: This parameter is for advanced users

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

Increment Values
1
Value Meaning
0 FirstGPS
1 SecondGPS

GPS_CAN_NODEID1: GPS Node ID 1

Note: This parameter is for advanced users

GPS Node id for first-discovered GPS.

ReadOnly
True

GPS_CAN_NODEID2: GPS Node ID 2