Complete Parameter List¶
Full Parameter List of Blimp latest V4.7.0 dev
You can change and check the parameters for another version:
This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.
This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.
Blimp Parameters¶
FORMAT_VERSION: Eeprom format version number¶
This value is incremented when changes are made to the eeprom format
SYSID_THISMAV: MAVLink system ID of this vehicle¶
Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
Range |
|---|
1 to 255 |
SYSID_MYGCS: My ground station number¶
Allows restricting radio overrides to only come from my ground station
Increment |
Range |
|---|---|
1 |
1 to 255 |
PILOT_THR_FILT: Throttle filter cutoff¶
Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
Increment |
Range |
Units |
|---|---|---|
.5 |
0 to 10 |
hertz |
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 |
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TELEM_DELAY: Telemetry startup delay¶
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 30 |
seconds |
GCS_PID_MASK: GCS PID tuning mask¶
bitmask of PIDs to send MAVLink PID_TUNING messages for
Bitmask |
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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 |
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GPS_HDOP_GOOD: GPS Hdop Good¶
GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
Range |
|---|
100 to 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 |
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|---|---|---|---|---|---|---|
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FS_THR_VALUE: Throttle Failsafe Value¶
The PWM level in microseconds on channel 3 below which throttle failsafe triggers
Increment |
Range |
Units |
|---|---|---|
1 |
910 to 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 to 300 |
PWM in microseconds |
FLTMODE1: Flight Mode 1¶
Flight mode when Channel 5 pwm is <= 1230
Values |
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FLTMODE2: Flight Mode 2¶
Flight mode when Channel 5 pwm is >1230, <= 1360
Values |
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FLTMODE3: Flight Mode 3¶
Flight mode when Channel 5 pwm is >1360, <= 1490
Values |
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FLTMODE4: Flight Mode 4¶
Flight mode when Channel 5 pwm is >1490, <= 1620
Values |
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FLTMODE5: Flight Mode 5¶
Flight mode when Channel 5 pwm is >1620, <= 1749
Values |
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FLTMODE6: Flight Mode 6¶
Flight mode when Channel 5 pwm is >=1750
Values |
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FLTMODE_CH: Flightmode channel¶
RC Channel to use for flight mode control
Values |
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INITIAL_MODE: Initial flight mode¶
This selects the mode to start in on boot.
Values |
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LOG_BITMASK: Log bitmask¶
Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.
Bitmask |
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DISARM_DELAY: Disarm delay¶
Delay before automatic disarm in seconds. A value of zero disables auto disarm.
Range |
Units |
|---|---|
0 to 127 |
seconds |
FS_EKF_ACTION: EKF Failsafe Action¶
Controls the action that will be taken when an EKF failsafe is invoked
Values |
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|---|---|---|---|---|---|---|
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FS_EKF_THRESH: EKF failsafe variance threshold¶
Allows setting the maximum acceptable compass and velocity variance
Values |
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|---|---|---|---|---|---|---|---|---|
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FS_CRASH_CHECK: Crash check enable¶
This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
Values |
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MAX_VEL_XY: Max XY Velocity¶
Sets the maximum XY velocity, in m/s
Range |
|---|
0.2 to 5 |
MAX_VEL_Z: Max Z Velocity¶
Sets the maximum Z velocity, in m/s
Range |
|---|
0.2 to 5 |
MAX_VEL_YAW: Max yaw Velocity¶
Sets the maximum yaw velocity, in rad/s
Range |
|---|
0.2 to 5 |
MAX_POS_XY: Max XY Position change¶
Sets the maximum XY position change, in m/s
Range |
|---|
0.1 to 5 |
MAX_POS_Z: Max Z Position change¶
Sets the maximum Z position change, in m/s
Range |
|---|
0.1 to 5 |
MAX_POS_YAW: Max Yaw Position change¶
Sets the maximum Yaw position change, in rad/s
Range |
|---|
0.1 to 5 |
SIMPLE_MODE: Simple mode¶
Simple mode for Position control - "forward" moves blimp in +ve X direction world-frame
Values |
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|---|---|---|---|---|---|---|
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DIS_MASK: Disable output mask¶
Mask for disabling (setting to zero) one or more of the 4 output axis in mode Velocity or Loiter
Bitmask |
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|---|---|---|---|---|---|---|---|---|---|---|
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PID_DZ: Deadzone for the position PIDs¶
Output 0 thrust signal when blimp is within this distance (in meters) of the target position. Warning: If this param is greater than MAX_POS_XY param then the blimp won't move at all in the XY plane in Loiter mode as it does not allow more than a second's lag. Same for the other axes.
Range |
Units |
|---|---|
0.1 to 1 |
meters |
RC_SPEED: ESC Update Speed¶
This is the speed in Hertz that your ESCs will receive updates
Increment |
Range |
Units |
|---|---|---|
1 |
50 to 490 |
hertz |
VELXY_P: Velocity (horizontal) P gain¶
Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration
Increment |
Range |
|---|---|
0.1 |
0.1 to 6.0 |
VELXY_I: Velocity (horizontal) I gain¶
Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
Increment |
Range |
|---|---|
0.01 |
0.02 to 1.00 |
VELXY_D: Velocity (horizontal) D gain¶
Velocity (horizontal) D gain. Corrects short-term changes in velocity
Increment |
Range |
|---|---|
0.001 |
0.00 to 1.00 |
VELXY_IMAX: Velocity (horizontal) integrator maximum¶
Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 4500 |
centimeters per square second |
VELXY_FLTE: Velocity (horizontal) input filter¶
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms
Range |
Units |
|---|---|
0 to 100 |
hertz |
VELXY_FLTD: Velocity (horizontal) input filter¶
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term
Range |
Units |
|---|---|
0 to 100 |
hertz |
VELXY_FF: Velocity (horizontal) feed forward gain¶
Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration
Increment |
Range |
|---|---|
0.01 |
0 to 6 |
VELZ_P: Velocity (vertical) P gain¶
Velocity (vertical) P gain. Converts the difference between desired and actual velocity to a target acceleration
Increment |
Range |
|---|---|
0.1 |
0.1 to 6.0 |
VELZ_I: Velocity (vertical) I gain¶
Velocity (vertical) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
Increment |
Range |
|---|---|
0.01 |
0.02 to 1.00 |
VELZ_D: Velocity (vertical) D gain¶
Velocity (vertical) D gain. Corrects short-term changes in velocity
Increment |
Range |
|---|---|
0.001 |
0.00 to 1.00 |
VELZ_IMAX: Velocity (vertical) integrator maximum¶
Velocity (vertical) integrator maximum. Constrains the target acceleration that the I gain will output
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 4500 |
centimeters per square second |
VELZ_FLTE: Velocity (vertical) input filter¶
Velocity (vertical) input filter. This filter (in Hz) is applied to the input for P and I terms
Range |
Units |
|---|---|
0 to 100 |
hertz |
VELZ_FLTD: Velocity (vertical) input filter¶
Velocity (vertical) input filter. This filter (in Hz) is applied to the input for D term
Range |
Units |
|---|---|
0 to 100 |
hertz |
VELZ_FF: Velocity (vertical) feed forward gain¶
Velocity (vertical) feed forward gain. Converts the difference between desired velocity to a target acceleration
Increment |
Range |
|---|---|
0.01 |
0 to 6 |
VELYAW_P: Velocity (yaw) P gain¶
Velocity (yaw) P gain. Converts the difference between desired and actual velocity to a target acceleration
Increment |
Range |
|---|---|
0.1 |
0.1 to 6.0 |
VELYAW_I: Velocity (yaw) I gain¶
Velocity (yaw) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
Increment |
Range |
|---|---|
0.01 |
0.02 to 1.00 |
VELYAW_D: Velocity (yaw) D gain¶
Velocity (yaw) D gain. Corrects short-term changes in velocity
Increment |
Range |
|---|---|
0.001 |
0.00 to 1.00 |
VELYAW_IMAX: Velocity (yaw) integrator maximum¶
Velocity (yaw) integrator maximum. Constrains the target acceleration that the I gain will output
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 4500 |
centimeters per square second |
VELYAW_FLTE: Velocity (yaw) input filter¶
Velocity (yaw) input filter. This filter (in Hz) is applied to the input for P and I terms
Range |
Units |
|---|---|
0 to 100 |
hertz |
VELYAW_FF: Velocity (yaw) feed forward gain¶
Velocity (yaw) feed forward gain. Converts the difference between desired velocity to a target acceleration
Increment |
Range |
|---|---|
0.01 |
0 to 6 |
POSXY_P: Position (horizontal) P gain¶
Position (horizontal) P gain. Converts the difference between desired and actual position to a target velocity
Increment |
Range |
|---|---|
0.1 |
0.1 to 6.0 |
POSXY_I: Position (horizontal) I gain¶
Position (horizontal) I gain. Corrects long-term difference between desired and actual position to a target velocity
Increment |
Range |
|---|---|
0.01 |
0.02 to 1.00 |
POSXY_D: Position (horizontal) D gain¶
Position (horizontal) D gain. Corrects short-term changes in position
Increment |
Range |
|---|---|
0.001 |
0.00 to 1.00 |
POSXY_IMAX: Position (horizontal) integrator maximum¶
Position (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 4500 |
centimeters per square second |
POSXY_FLTE: Position (horizontal) input filter¶
Position (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms
Range |
Units |
|---|---|
0 to 100 |
hertz |
POSXY_FLTD: Position (horizontal) input filter¶
Position (horizontal) input filter. This filter (in Hz) is applied to the input for D term
Range |
Units |
|---|---|
0 to 100 |
hertz |
POSXY_FF: Position (horizontal) feed forward gain¶
Position (horizontal) feed forward gain. Converts the difference between desired position to a target velocity
Increment |
Range |
|---|---|
0.01 |
0 to 6 |
POSZ_P: Position (vertical) P gain¶
Position (vertical) P gain. Converts the difference between desired and actual position to a target velocity
Increment |
Range |
|---|---|
0.1 |
0.1 to 6.0 |
POSZ_I: Position (vertical) I gain¶
Position (vertical) I gain. Corrects long-term difference between desired and actual position to a target velocity
Increment |
Range |
|---|---|
0.01 |
0.02 to 1.00 |
POSZ_D: Position (vertical) D gain¶
Position (vertical) D gain. Corrects short-term changes in position
Increment |
Range |
|---|---|
0.001 |
0.00 to 1.00 |
POSZ_IMAX: Position (vertical) integrator maximum¶
Position (vertical) integrator maximum. Constrains the target acceleration that the I gain will output
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 4500 |
centimeters per square second |
POSZ_FLTE: Position (vertical) input filter¶
Position (vertical) input filter. This filter (in Hz) is applied to the input for P and I terms
Range |
Units |
|---|---|
0 to 100 |
hertz |
POSZ_FLTD: Position (vertical) input filter¶
Position (vertical) input filter. This filter (in Hz) is applied to the input for D term
Range |
Units |
|---|---|
0 to 100 |
hertz |
POSZ_FF: Position (vertical) feed forward gain¶
Position (vertical) feed forward gain. Converts the difference between desired position to a target velocity
Increment |
Range |
|---|---|
0.01 |
0 to 6 |
POSYAW_P: Position (yaw) axis controller P gain¶
Position (yaw) axis controller P gain.
Increment |
Range |
|---|---|
0.01 |
0.0 to 3.0 |
POSYAW_I: Position (yaw) axis controller I gain¶
Position (yaw) axis controller I gain.
Increment |
Range |
|---|---|
0.01 |
0.0 to 3.0 |
POSYAW_IMAX: Position (yaw) axis controller I gain maximum¶
Position (yaw) axis controller I gain maximum.
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 4000 |
decipercent |
POSYAW_D: Position (yaw) axis controller D gain¶
Position (yaw) axis controller D gain.
Increment |
Range |
|---|---|
0.001 |
0.001 to 0.1 |
POSYAW_FF: Position (yaw) axis controller feed forward¶
Position (yaw) axis controller feed forward
Increment |
Range |
|---|---|
0.001 |
0 to 0.5 |
POSYAW_FLTT: Position (yaw) target frequency filter in Hz¶
Position (yaw) target frequency filter in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 50 |
hertz |
POSYAW_FLTE: Position (yaw) error frequency filter in Hz¶
Position (yaw) error frequency filter in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 100 |
hertz |
POSYAW_FLTD: Position (yaw) derivative input filter in Hz¶
Position (yaw) derivative input filter in Hz
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 100 |
hertz |
POSYAW_SMAX: Yaw slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains.
Increment |
Range |
|---|---|
0.5 |
0 to 200 |
POSYAW_PDMX: Position (yaw) axis controller PD sum maximum¶
Position (yaw) axis controller PD sum maximum. The maximum/minimum value that the sum of the P and D term can output
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 4000 |
decipercent |
POSYAW_D_FF: Position (yaw) Derivative FeedForward Gain¶
FF D Gain which produces an output that is proportional to the rate of change of the target
Increment |
Range |
|---|---|
0.001 |
0 to 0.1 |
POSYAW_NTF: Position (yaw) Target notch filter index¶
Position (yaw) Target notch filter index
Range |
|---|
1 to 8 |
POSYAW_NEF: Position (yaw) Error notch filter index¶
Position (yaw) Error notch filter index
Range |
|---|
1 to 8 |
DEV_OPTIONS: Development options¶
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 |
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SYSID_ENFORCE: GCS sysid enforcement¶
This controls whether packets from other than the expected GCS system ID will be accepted
Values |
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FRAME_CLASS: Frame Class¶
Controls major frame class for blimp.
Values |
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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 to 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 |
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|---|---|---|---|---|---|---|
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FS_OPTIONS: Failsafe options bitmask¶
Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
Bitmask |
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|---|---|---|---|---|
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FS_GCS_TIMEOUT: GCS failsafe timeout¶
Timeout before triggering the GCS failsafe
Increment |
Range |
Units |
|---|---|---|
1 |
2 to 120 |
seconds |
AHRS_ Parameters¶
AHRS_GPS_GAIN: AHRS GPS gain¶
This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.
Increment |
Range |
|---|---|
.01 |
0.0 to 1.0 |
AHRS_YAW_P: Yaw P¶
This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
Increment |
Range |
|---|---|
.01 |
0.1 to 0.4 |
AHRS_RP_P: AHRS RP_P¶
This controls how fast the accelerometers correct the attitude
Increment |
Range |
|---|---|
.01 |
0.1 to 0.4 |
AHRS_WIND_MAX: Maximum wind¶
This sets the maximum allowable difference between ground speed and airspeed. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX to disable airspeed sensors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 127 |
meters per second |
AHRS_TRIM_X: AHRS Trim Roll¶
Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-0.1745 to +0.1745 |
radians |
AHRS_TRIM_Y: AHRS Trim Pitch¶
Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-0.1745 to +0.1745 |
radians |
AHRS_TRIM_Z: AHRS Trim Yaw¶
Not Used
Increment |
Range |
Units |
|---|---|---|
0.01 |
-0.1745 to +0.1745 |
radians |
AHRS_ORIENTATION: Board Orientation¶
Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.
Values |
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AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶
This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
Increment |
Range |
|---|---|
.01 |
0.001 to 0.5 |
AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶
Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
Increment |
Range |
|---|---|
1 |
0 to 10 |
AHRS_CUSTOM_ROLL: Board orientation roll offset¶
Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_CUSTOM_PIT: Board orientation pitch offset¶
Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_CUSTOM_YAW: Board orientation yaw offset¶
Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_OPTIONS: Optional AHRS behaviour¶
This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
Bitmask |
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AIS_ Parameters¶
AIS_TYPE: AIS receiver type¶
AIS receiver type
Values |
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|---|---|---|---|---|---|---|
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AIS_LIST_MAX: AIS vessel list size¶
AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.
Range |
|---|
1 to 100 |
AIS_TIME_OUT: AIS vessel time out¶
if no updates are received in this time a vessel will be removed from the list
Range |
Units |
|---|---|
1 to 2000 |
seconds |
AIS_LOGGING: AIS logging options¶
Bitmask of AIS logging options
Bitmask |
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|---|---|---|---|---|---|---|---|---|
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ARMING_ Parameters¶
ARMING_ACCTHRESH: Accelerometer error threshold¶
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 to 3.0 |
meters per square second |
ARMING_RUDDER: Arming with Rudder enable/disable¶
Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!
Values |
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|---|---|---|---|---|---|---|---|---|
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ARMING_MIS_ITEMS: Required mission items¶
Bitmask of mission items that are required to be planned in order to arm the aircraft
Bitmask |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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ARMING_OPTIONS: Arming options¶
Options that can be applied to change arming behaviour
Bitmask |
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|---|---|---|---|---|---|---|
|
ARMING_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model¶
Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check
Range |
Units |
|---|---|
0 to 500 |
milligauss |
ARMING_CRSDP_IGN: Disable CrashDump Arming check¶
Must have value "1" if crashdump data is present on the system, or a prearm failure will be raised. Do not set this parameter unless the risks of doing so are fully understood. The presence of a crash dump means that the firmware currently installed has suffered a critical software failure which resulted in the autopilot immediately rebooting. The crashdump file gives diagnostic information which can help in finding the issue, please contact the ArduPIlot support team. If this crashdump data is present, the vehicle is likely unsafe to fly. Check the ArduPilot documentation for more details.
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD Parameters¶
ARSPD_ENABLE: Airspeed Enable¶
Enable airspeed sensor support
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD_TUBE_ORDER: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_PRIMARY: Primary airspeed sensor¶
This selects which airspeed sensor will be the primary if multiple sensors are found
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD_OPTIONS: Airspeed options bitmask¶
This parameter and function is not used by this vehicle. Always set to 0.
Bitmask |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_WIND_MAX: Maximum airspeed and ground speed difference¶
This parameter and function is not used by this vehicle. Always set to 0.
Units |
|---|
meters per second |
ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning¶
This parameter and function is not used by this vehicle. Always set to 0.
Units |
|---|
meters per second |
ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size¶
This parameter and function is not used by this vehicle.
Range |
|---|
0.0 to 10.0 |
ARSPD_OFF_PCNT: Maximum offset cal speed error¶
The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibrations before a warning is issued. This potential speed error is in percent of AIRSPEED_MIN. 0 disables. Helps warn of calibrations without pitot being covered.
Range |
Units |
|---|---|
0.0 to 10.0 |
percent |
ARSPD2_ Parameters¶
ARSPD2_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD2_USE: Airspeed use¶
This parameter is not used by this vehicle. Always set to 0.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD2_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
|---|
0.1 |
ARSPD2_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
|---|
0.1 |
ARSPD2_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD2_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0.¶
Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD2_TUBE_ORDR: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD2_PSI_RANGE: The PSI range of the device¶
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD2_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD2_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
ARSPD_ Parameters¶
ARSPD_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_USE: Airspeed use¶
This parameter is not used by this vehicle. Always set to 0.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
|---|
0.1 |
ARSPD_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
|---|
0.1 |
ARSPD_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0.¶
Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD_TUBE_ORDR: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD_PSI_RANGE: The PSI range of the device¶
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO Parameters¶
BARO1_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO_GND_TEMP: ground temperature¶
User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.
Increment |
Units |
Volatile |
|---|---|---|
1 |
degrees Celsius |
True |
BARO_ALT_OFFSET: altitude offset¶
altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
Increment |
Units |
|---|---|
0.1 |
meters |
BARO_PRIMARY: Primary barometer¶
This selects which barometer will be the primary if multiple barometers are found
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
BARO_EXT_BUS: External baro bus¶
This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BARO2_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO3_GND_PRESS: Absolute Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
BARO_PROBE_EXT: External barometers to probe¶
This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.
Bitmask |
||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BARO1_DEVID: Baro ID¶
Barometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO2_DEVID: Baro ID2¶
Barometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO3_DEVID: Baro ID3¶
Barometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO_FIELD_ELV: field elevation¶
User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.
Increment |
Units |
Volatile |
|---|---|---|
0.1 |
meters |
True |
BARO_ALTERR_MAX: Altitude error maximum¶
This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 5000 |
meters |
BARO_OPTIONS: Barometer options¶
Barometer options
Bitmask |
||||
|---|---|---|---|---|
|
BARO1_WCF_ Parameters¶
BARO1_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_ Parameters¶
BARO2_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_ Parameters¶
BARO3_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BATT2_ Parameters¶
BATT2_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT2_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT2_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT2_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT2_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT2_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT2_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT2_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT2_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT2_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT2_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT2_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT2_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT2_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT2_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT2_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT2_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT2_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT2_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT2_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT2_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT2_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT2_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT2_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT2_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT2_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT2_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT2_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT2_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT2_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT2_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT2_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT2_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT2_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT2_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT2_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATT3_ Parameters¶
BATT3_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT3_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT3_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT3_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT3_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT3_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT3_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT3_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT3_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT3_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT3_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT3_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT3_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT3_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT3_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT3_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT3_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT3_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT3_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT3_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT3_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT3_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT3_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT3_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT3_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT3_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT3_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT3_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT3_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT3_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT3_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT3_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT3_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT3_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT3_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT3_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATT4_ Parameters¶
BATT4_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT4_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT4_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT4_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT4_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT4_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT4_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT4_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT4_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT4_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT4_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT4_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT4_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT4_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT4_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT4_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT4_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT4_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT4_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT4_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT4_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT4_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT4_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT4_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT4_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT4_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT4_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT4_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT4_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT4_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT4_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT4_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT4_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT4_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT4_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT4_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATT5_ Parameters¶
BATT5_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT5_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT5_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT5_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT5_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT5_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT5_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT5_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT5_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT5_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT5_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT5_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT5_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT5_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT5_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT5_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT5_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT5_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT5_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT5_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT5_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT5_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT5_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT5_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT5_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT5_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT5_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT5_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT5_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT5_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT5_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT5_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT5_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT5_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT5_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT5_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATT6_ Parameters¶
BATT6_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT6_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT6_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT6_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT6_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT6_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT6_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT6_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT6_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT6_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT6_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT6_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT6_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT6_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT6_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT6_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT6_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT6_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT6_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT6_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT6_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT6_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT6_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT6_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT6_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT6_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT6_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT6_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT6_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT6_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT6_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT6_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT6_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT6_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT6_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT6_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATT7_ Parameters¶
BATT7_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT7_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT7_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT7_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT7_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT7_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT7_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT7_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT7_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT7_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT7_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT7_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT7_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT7_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT7_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT7_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT7_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT7_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT7_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT7_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT7_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT7_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT7_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT7_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT7_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT7_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT7_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT7_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT7_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT7_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT7_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT7_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT7_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT7_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT7_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT7_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATT8_ Parameters¶
BATT8_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT8_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT8_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT8_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT8_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT8_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT8_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT8_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT8_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT8_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT8_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT8_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT8_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT8_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT8_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT8_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT8_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT8_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT8_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT8_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT8_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT8_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT8_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT8_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT8_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT8_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT8_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT8_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT8_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT8_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT8_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT8_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT8_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT8_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT8_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT8_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATT9_ Parameters¶
BATT9_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT9_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT9_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT9_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT9_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT9_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT9_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT9_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT9_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT9_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT9_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT9_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT9_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT9_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT9_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT9_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT9_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT9_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT9_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT9_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT9_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT9_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT9_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT9_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT9_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT9_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT9_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT9_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT9_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT9_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT9_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT9_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT9_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT9_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT9_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT9_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATTA_ Parameters¶
BATTA_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTA_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATTA_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATTA_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTA_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTA_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTA_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTA_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTA_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTA_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTA_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTA_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTA_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTA_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATTA_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATTA_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATTA_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATTA_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATTA_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTA_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATTA_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATTA_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATTA_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATTA_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATTA_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTA_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTA_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTA_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTA_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATTA_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTA_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTA_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTA_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTA_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTA_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTA_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTA_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTA_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTA_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTA_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTA_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATTA_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATTA_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATTA_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATTB_ Parameters¶
BATTB_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTB_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATTB_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATTB_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTB_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTB_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTB_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTB_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTB_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTB_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTB_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTB_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTB_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTB_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATTB_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATTB_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATTB_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATTB_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATTB_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTB_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATTB_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATTB_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATTB_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATTB_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATTB_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTB_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTB_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTB_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTB_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATTB_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTB_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTB_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTB_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTB_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTB_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTB_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTB_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTB_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTB_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTB_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTB_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATTB_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATTB_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATTB_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATTC_ Parameters¶
BATTC_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTC_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATTC_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATTC_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTC_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTC_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTC_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTC_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTC_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTC_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTC_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTC_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTC_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTC_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATTC_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATTC_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATTC_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATTC_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATTC_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTC_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATTC_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATTC_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATTC_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATTC_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATTC_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTC_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTC_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTC_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTC_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATTC_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTC_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTC_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTC_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTC_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTC_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTC_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTC_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTC_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTC_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTC_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTC_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATTC_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATTC_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATTC_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATTD_ Parameters¶
BATTD_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTD_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATTD_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATTD_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTD_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTD_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTD_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTD_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTD_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTD_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTD_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTD_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTD_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTD_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATTD_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATTD_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATTD_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATTD_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATTD_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTD_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATTD_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATTD_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATTD_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATTD_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATTD_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTD_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTD_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTD_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTD_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATTD_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTD_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTD_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTD_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTD_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTD_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTD_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTD_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTD_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTD_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTD_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTD_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATTD_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATTD_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATTD_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATTE_ Parameters¶
BATTE_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTE_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATTE_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATTE_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTE_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTE_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTE_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTE_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTE_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTE_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTE_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTE_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTE_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTE_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATTE_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATTE_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATTE_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATTE_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATTE_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTE_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATTE_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATTE_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATTE_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATTE_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATTE_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTE_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTE_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTE_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTE_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATTE_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTE_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTE_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTE_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTE_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTE_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTE_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTE_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTE_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTE_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTE_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTE_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATTE_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATTE_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATTE_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATTF_ Parameters¶
BATTF_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTF_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATTF_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATTF_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTF_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTF_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTF_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTF_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTF_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTF_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTF_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTF_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTF_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTF_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATTF_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATTF_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATTF_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATTF_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATTF_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTF_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATTF_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATTF_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATTF_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATTF_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATTF_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTF_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTF_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTF_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTF_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATTF_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTF_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTF_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTF_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTF_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTF_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTF_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTF_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTF_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTF_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTF_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTF_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATTF_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATTF_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATTF_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATTG_ Parameters¶
BATTG_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTG_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATTG_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATTG_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTG_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTG_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTG_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTG_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTG_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTG_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATTG_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATTG_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATTG_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTG_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATTG_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATTG_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATTG_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATTG_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATTG_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTG_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATTG_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATTG_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATTG_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATTG_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATTG_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTG_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTG_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTG_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTG_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATTG_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTG_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTG_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTG_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTG_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATTG_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATTG_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTG_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTG_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTG_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTG_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTG_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATTG_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATTG_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATTG_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BATT_ Parameters¶
BATT_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_ESC_INDEX: ESC Telemetry Index to write to¶
ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BATT_VOLT_PIN (AP_BattMonitor_Analog): Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT_AMP_PERVLT (AP_BattMonitor_Analog): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.
Units |
|---|
ampere per volt |
BATT_AMP_OFFSET (AP_BattMonitor_Analog): AMP offset¶
Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.
Units |
|---|
volt |
BATT_VLT_OFFSET (AP_BattMonitor_Analog): Voltage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.
Units |
|---|
volt |
BATT_I2C_BUS (AP_BattMonitor_SMBus): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current¶
This controls the maximum current the INS2XX sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT_ESC_MASK: ESC mask¶
If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
This controls the maximum current the INA239 sensor will work with.
Range |
Units |
|---|---|
1 to 400 |
ampere |
BATT_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor¶
This sets the shunt resistor used in the device
Range |
Units |
|---|---|
0.0001 to 0.01 |
Ohm |
BATT_I2C_BUS (AP_BattMonitor_INA3221): Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
BATT_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to.
Units |
|---|
ampere per volt |
BATT_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset¶
Voltage offset at zero current on current sensor
Units |
|---|
volt |
BATT_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
|---|
volt |
BRD_ Parameters¶
BRD_SER1_RTSCTS: Serial 1 flow control¶
Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_SER2_RTSCTS: Serial 2 flow control¶
Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_SER3_RTSCTS: Serial 3 flow control¶
Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_SER4_RTSCTS: Serial 4 flow control¶
Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_SER5_RTSCTS: Serial 5 flow control¶
Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_SAFETY_DEFLT: Sets default state of the safety switch¶
This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
Values |
||||||
|---|---|---|---|---|---|---|
|
BRD_SBUS_OUT: SBUS output rate¶
This sets the SBUS output frame rate in Hz
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_SERIAL_NUM: User-defined serial number¶
User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
Range |
|---|
-8388608 to 8388607 |
BRD_SAFETY_MASK: Outputs which ignore the safety switch state¶
A bitmask which controls what outputs can move while the safety switch has not been pressed
Bitmask |
||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_HEAT_TARG: Board heater temperature target¶
Board heater target temperature for boards with controllable heating units. Set to -1 to disable the heater, please reboot after setting to -1.
Range |
Units |
|---|---|
-1 to 80 |
degrees Celsius |
BRD_TYPE: Board type¶
This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
Values |
||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_IO_ENABLE: Enable IO co-processor¶
This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
BRD_VBUS_MIN: Autopilot board voltage requirement¶
Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
Increment |
Range |
Units |
|---|---|---|
0.1 |
4.0 to 5.5 |
volt |
BRD_VSERVO_MIN: Servo voltage requirement¶
Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
Increment |
Range |
Units |
|---|---|---|
0.1 |
3.3 to 12.0 |
volt |
BRD_SD_SLOWDOWN: microSD slowdown¶
This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
Increment |
Range |
|---|---|
1 |
0 to 32 |
BRD_PWM_VOLT_SEL: Set PWM Out Voltage¶
This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxiliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.
Values |
||||||
|---|---|---|---|---|---|---|
|
BRD_OPTIONS: Board options¶
Board specific option flags
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_BOOT_DELAY: Boot delay¶
This adds a delay in milliseconds to boot to ensure peripherals initialise fully
Range |
Units |
|---|---|
0 to 10000 |
milliseconds |
BRD_HEAT_P: Board Heater P gain¶
Board Heater P gain
Increment |
Range |
|---|---|
1 |
1 to 500 |
BRD_HEAT_I: Board Heater I gain¶
Board Heater integrator gain
Increment |
Range |
|---|---|
0.1 |
0 to 1 |
BRD_HEAT_IMAX: Board Heater IMAX¶
Board Heater integrator maximum
Increment |
Range |
|---|---|
1 |
0 to 100 |
BRD_ALT_CONFIG: Alternative HW config¶
Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.
Increment |
Range |
|---|---|
1 |
0 to 10 |
BRD_HEAT_LOWMGN: Board heater temp lower margin¶
Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check
Range |
Units |
|---|---|
0 to 20 |
degrees Celsius |
BRD_SD_MISSION: SDCard Mission size¶
This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.
Range |
|---|
0 to 64 |
BRD_SD_FENCE: SDCard Fence size¶
This sets the amount of storage in kilobytes reserved on the microsd card in fence.stg for fence storage.
Range |
|---|
0 to 64 |
BRD_IO_DSHOT: Load DShot FW on IO¶
This loads the DShot firmware on the IO co-processor
Values |
||||||
|---|---|---|---|---|---|---|
|
BRD_RADIO Parameters¶
BRD_RADIO_TYPE: Set type of direct attached radio¶
This enables support for direct attached radio receivers
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_PROT: protocol¶
Select air protocol
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_DEBUG: debug level¶
radio debug level
Range |
|---|
0 to 4 |
BRD_RADIO_DISCRC: disable receive CRC¶
disable receive CRC (for debug)
Values |
||||||
|---|---|---|---|---|---|---|
|
BRD_RADIO_SIGCH: RSSI signal strength¶
Channel to show receive RSSI signal strength, or zero for disabled
Range |
|---|
0 to 16 |
BRD_RADIO_PPSCH: Packet rate channel¶
Channel to show received packet-per-second rate, or zero for disabled
Range |
|---|
0 to 16 |
BRD_RADIO_TELEM: Enable telemetry¶
If this is non-zero then telemetry packets will be sent over DSM
Values |
||||||
|---|---|---|---|---|---|---|
|
BRD_RADIO_TXPOW: Telemetry Transmit power¶
Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX
Range |
|---|
1 to 8 |
BRD_RADIO_FCCTST: Put radio into FCC test mode¶
If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_STKMD: Stick input mode¶
This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.
Values |
||||||
|---|---|---|---|---|---|---|
|
BRD_RADIO_TESTCH: Set radio to factory test channel¶
This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶
Channel to show telemetry RSSI value as received by TX
Range |
|---|
0 to 16 |
BRD_RADIO_TPPSCH: Telemetry PPS channel¶
Channel to show telemetry packets-per-second value, as received at TX
Range |
|---|
0 to 16 |
BRD_RADIO_TXMAX: Transmitter transmit power¶
Set transmitter maximum transmit power (from 1 to 8)
Range |
|---|
1 to 8 |
BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶
Set transmitter buzzer note adjustment (adjust frequency up)
Range |
|---|
0 to 40 |
BRD_RADIO_ABTIME: Auto-bind time¶
When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.
Range |
|---|
0 to 120 |
BRD_RADIO_ABLVL: Auto-bind level¶
This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially
Range |
|---|
0 to 31 |
BRD_RTC Parameters¶
BRD_RTC_TYPES: Allowed sources of RTC time¶
Specifies which sources of UTC time will be accepted
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
BRD_RTC_TZ_MIN: Timezone offset from UTC¶
Adds offset in +- minutes from UTC to calculate local time
Range |
|---|
-720 to +840 |
CAN_ Parameters¶
CAN_LOGLEVEL: Loglevel¶
Loglevel for recording initialisation and debug information from CAN Interface
Range |
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 4 |
|
CAN_D1_ Parameters¶
CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
Values |
||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_PROTOCOL2: Secondary protocol with 11 bit CAN addressing¶
Secondary protocol with 11 bit CAN addressing
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_PC_ Parameters¶
CAN_D1_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D1_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D1_PC_ECU_ID: ECU Node ID¶
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Range |
|---|
0 to 255 |
CAN_D1_PC_ECU_RT: ECU command output rate¶
Output rate of ECU command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D1_UC_ Parameters¶
CAN_D1_UC_NODE: Own node ID¶
DroneCAN node ID used by the driver itself on this network
Range |
|---|
1 to 125 |
CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN¶
Bitmask with one set for channel to be transmitted as a servo command over DroneCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D1_UC_OPTION: DroneCAN options¶
Option flags
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D1_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth
Range |
|---|
0 to 18 |
CAN_D1_UC_POOL: CAN pool size¶
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Range |
|---|
1024 to 16384 |
CAN_D1_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.¶
Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_RLY_RT: DroneCAN relay output rate¶
Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state
Range |
Units |
|---|---|
0 to 200 |
hertz |
CAN_D1_UC_SER_EN: DroneCAN Serial enable¶
Enable DroneCAN virtual serial ports
Values |
||||||
|---|---|---|---|---|---|---|
|
CAN_D1_UC_S1_NOD: Serial CAN remote node number¶
CAN remote node number for serial port
Range |
|---|
0 to 127 |
CAN_D1_UC_S1_IDX: DroneCAN Serial1 index¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D1_UC_S1_BD: DroneCAN Serial default baud rate¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_S1_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_S2_NOD: Serial CAN remote node number¶
CAN remote node number for serial port
Range |
|---|
0 to 127 |
CAN_D1_UC_S2_IDX: Serial port number on remote CAN node¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D1_UC_S2_BD: DroneCAN Serial default baud rate¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_S2_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_S3_NOD: Serial CAN remote node number¶
CAN node number for serial port
Range |
|---|
0 to 127 |
CAN_D1_UC_S3_IDX: Serial port number on remote CAN node¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D1_UC_S3_BD: Serial baud rate on remote CAN node¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_S3_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_ Parameters¶
CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
Values |
||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_PROTOCOL2: Secondary protocol with 11 bit CAN addressing¶
Secondary protocol with 11 bit CAN addressing
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_PC_ Parameters¶
CAN_D2_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D2_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D2_PC_ECU_ID: ECU Node ID¶
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Range |
|---|
0 to 255 |
CAN_D2_PC_ECU_RT: ECU command output rate¶
Output rate of ECU command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D2_UC_ Parameters¶
CAN_D2_UC_NODE: Own node ID¶
DroneCAN node ID used by the driver itself on this network
Range |
|---|
1 to 125 |
CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN¶
Bitmask with one set for channel to be transmitted as a servo command over DroneCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D2_UC_OPTION: DroneCAN options¶
Option flags
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D2_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth
Range |
|---|
0 to 18 |
CAN_D2_UC_POOL: CAN pool size¶
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Range |
|---|
1024 to 16384 |
CAN_D2_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.¶
Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_RLY_RT: DroneCAN relay output rate¶
Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state
Range |
Units |
|---|---|
0 to 200 |
hertz |
CAN_D2_UC_SER_EN: DroneCAN Serial enable¶
Enable DroneCAN virtual serial ports
Values |
||||||
|---|---|---|---|---|---|---|
|
CAN_D2_UC_S1_NOD: Serial CAN remote node number¶
CAN remote node number for serial port
Range |
|---|
0 to 127 |
CAN_D2_UC_S1_IDX: DroneCAN Serial1 index¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D2_UC_S1_BD: DroneCAN Serial default baud rate¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_S1_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_S2_NOD: Serial CAN remote node number¶
CAN remote node number for serial port
Range |
|---|
0 to 127 |
CAN_D2_UC_S2_IDX: Serial port number on remote CAN node¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D2_UC_S2_BD: DroneCAN Serial default baud rate¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_S2_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_S3_NOD: Serial CAN remote node number¶
CAN node number for serial port
Range |
|---|
0 to 127 |
CAN_D2_UC_S3_IDX: Serial port number on remote CAN node¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D2_UC_S3_BD: Serial baud rate on remote CAN node¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_S3_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_ Parameters¶
CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
Values |
||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_PROTOCOL2: Secondary protocol with 11 bit CAN addressing¶
Secondary protocol with 11 bit CAN addressing
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_PC_ Parameters¶
CAN_D3_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D3_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D3_PC_ECU_ID: ECU Node ID¶
Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.
Range |
|---|
0 to 255 |
CAN_D3_PC_ECU_RT: ECU command output rate¶
Output rate of ECU command messages
Range |
Units |
|---|---|
1 to 500 |
hertz |
CAN_D3_UC_ Parameters¶
CAN_D3_UC_NODE: Own node ID¶
DroneCAN node ID used by the driver itself on this network
Range |
|---|
1 to 125 |
CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over DroneCAN¶
Bitmask with one set for channel to be transmitted as a servo command over DroneCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over DroneCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over DroneCAN
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D3_UC_OPTION: DroneCAN options¶
Option flags
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
|---|---|
1 to 200 |
hertz |
CAN_D3_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficient usage of CAN bandwidth
Range |
|---|
0 to 18 |
CAN_D3_UC_POOL: CAN pool size¶
Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
Range |
|---|
1024 to 16384 |
CAN_D3_UC_ESC_RV: Bitmask for output channels for reversible ESCs over DroneCAN.¶
Bitmask with one set for each output channel that uses a reversible ESC over DroneCAN. Reversible ESCs use both positive and negative values in RawCommands, with positive commanding the forward direction and negative commanding the reverse direction.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_RLY_RT: DroneCAN relay output rate¶
Maximum transmit rate for relay outputs, note that this rate is per message each message does 1 relay, so if with more relays will take longer to update at the same rate, a extra message will be sent when a relay changes state
Range |
Units |
|---|---|
0 to 200 |
hertz |
CAN_D3_UC_SER_EN: DroneCAN Serial enable¶
Enable DroneCAN virtual serial ports
Values |
||||||
|---|---|---|---|---|---|---|
|
CAN_D3_UC_S1_NOD: Serial CAN remote node number¶
CAN remote node number for serial port
Range |
|---|
0 to 127 |
CAN_D3_UC_S1_IDX: DroneCAN Serial1 index¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D3_UC_S1_BD: DroneCAN Serial default baud rate¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_S1_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_S2_NOD: Serial CAN remote node number¶
CAN remote node number for serial port
Range |
|---|
0 to 127 |
CAN_D3_UC_S2_IDX: Serial port number on remote CAN node¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D3_UC_S2_BD: DroneCAN Serial default baud rate¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_S2_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_S3_NOD: Serial CAN remote node number¶
CAN node number for serial port
Range |
|---|
0 to 127 |
CAN_D3_UC_S3_IDX: Serial port number on remote CAN node¶
Serial port number on remote CAN node
Range |
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 100 |
|
CAN_D3_UC_S3_BD: Serial baud rate on remote CAN node¶
Serial baud rate on remote CAN node
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_S3_PRO: Serial protocol of DroneCAN serial port¶
Serial protocol of DroneCAN serial port
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P1_ Parameters¶
CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P1_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN_P1_FDBITRATE: Bitrate of CANFD interface¶
Bit rate can be set up to from 1000000 to 8000000
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P1_OPTIONS: CAN per-interface options¶
CAN per-interface options
Bitmask |
||||
|---|---|---|---|---|
|
CAN_P2_ Parameters¶
CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P2_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN_P2_FDBITRATE: Bitrate of CANFD interface¶
Bit rate can be set up to from 1000000 to 8000000
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P2_OPTIONS: CAN per-interface options¶
CAN per-interface options
Bitmask |
||||
|---|---|---|---|---|
|
CAN_P3_ Parameters¶
CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P3_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN_P3_FDBITRATE: Bitrate of CANFD interface¶
Bit rate can be set up to from 1000000 to 8000000
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P3_OPTIONS: CAN per-interface options¶
CAN per-interface options
Bitmask |
||||
|---|---|---|---|---|
|
CAN_SLCAN_ Parameters¶
CAN_SLCAN_CPORT: SLCAN Route¶
CAN Interface ID to be routed to SLCAN, 0 means no routing
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
CAN_SLCAN_SERNUM: SLCAN Serial Port¶
Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_SLCAN_TIMOUT: SLCAN Timeout¶
Duration of inactivity after which SLCAN is switched back to original driver in seconds.
Range |
|---|
0 to 127 |
CAN_SLCAN_SDELAY: SLCAN Start Delay¶
Duration after which slcan starts after setting SERNUM in seconds.
Range |
|---|
0 to 127 |
COMPASS_ Parameters¶
COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶
Offset to be added to the compass x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶
Offset to be added to the compass y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶
Offset to be added to the compass z-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_DEC: Compass declination¶
An angle to compensate between the true north and magnetic north
Increment |
Range |
Units |
|---|---|---|
0.01 |
-3.142 to 3.142 |
radians |
COMPASS_LEARN: Learn compass offsets automatically¶
Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE: Use compass for yaw¶
Enable or disable the use of the compass (instead of the GPS) for determining heading
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_AUTODEC: Auto Declination¶
Enable or disable the automatic calculation of the declination based on gps location
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_MOTCT: Motor interference compensation type¶
Set motor interference compensation type to disabled, throttle or current. Do not change manually.
Calibration |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|
1 |
|
COMPASS_MOT_X: Motor interference compensation for body frame X axis¶
Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶
Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶
Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_ORIENT: Compass orientation¶
The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERNAL: Compass is attached via an external cable¶
Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶
Offset to be added to compass2's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶
Offset to be added to compass2's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶
Offset to be added to compass2's z-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis¶
Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis¶
Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis¶
Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶
Offset to be added to compass3's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶
Offset to be added to compass3's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶
Offset to be added to compass3's z-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis¶
Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis¶
Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis¶
Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_DEV_ID: Compass device id¶
Compass device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID2: Compass2 device id¶
Second compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID3: Compass3 device id¶
Third compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_USE2: Compass2 used for yaw¶
Enable or disable the secondary compass for determining heading.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_ORIENT2: Compass2 orientation¶
The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN2: Compass2 is attached via an external cable¶
Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE3: Compass3 used for yaw¶
Enable or disable the tertiary compass for determining heading.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_ORIENT3: Compass3 orientation¶
The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN3: Compass3 is attached via an external cable¶
Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_DIA_X: Compass soft-iron diagonal X component¶
DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶
DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶
DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶
ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶
ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶
ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶
DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶
DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶
DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶
ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶
ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶
ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶
DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶
DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶
DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶
ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶
ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶
ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_CAL_FIT: Compass calibration fitness¶
This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
Increment |
Range |
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
0.1 |
4 to 32 |
|
COMPASS_OFFS_MAX: Compass maximum offset¶
This sets the maximum allowed compass offset in calibration and arming checks
Increment |
Range |
|---|---|
1 |
500 to 3000 |
COMPASS_DISBLMSK: Compass disable driver type mask¶
This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
Bitmask |
||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
COMPASS_AUTO_ROT: Automatically check orientation¶
When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_PRIO1_ID: Compass device id with 1st order priority¶
Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO2_ID: Compass device id with 2nd order priority¶
Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO3_ID: Compass device id with 3rd order priority¶
Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
COMPASS_ENABLE: Enable Compass¶
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_SCALE: Compass1 scale factor¶
Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
|---|
0 to 1.3 |
COMPASS_SCALE2: Compass2 scale factor¶
Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
|---|
0 to 1.3 |
COMPASS_SCALE3: Compass3 scale factor¶
Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
|---|
0 to 1.3 |
COMPASS_OPTIONS: Compass options¶
This sets options to change the behaviour of the compass
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_DEV_ID4: Compass4 device id¶
Extra 4th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID5: Compass5 device id¶
Extra 5th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID6: Compass6 device id¶
Extra 6th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID7: Compass7 device id¶
Extra 7th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID8: Compass8 device id¶
Extra 8th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_CUS_ROLL: Custom orientation roll offset¶
Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_CUS_PIT: Custom orientation pitch offset¶
Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_CUS_YAW: Custom orientation yaw offset¶
Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_PMOT Parameters¶
COMPASS_PMOT_EN: per-motor compass correction enable¶
This enables per-motor compass corrections
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_PMOT_EXP: per-motor exponential correction¶
This is the exponential correction for the power output of the motor for per-motor compass correction
Increment |
Range |
|---|---|
0.01 |
0 to 2 |
COMPASS_PMOT1_X: Compass per-motor1 X¶
Compensation for X axis of motor1
COMPASS_PMOT1_Y: Compass per-motor1 Y¶
Compensation for Y axis of motor1
COMPASS_PMOT1_Z: Compass per-motor1 Z¶
Compensation for Z axis of motor1
COMPASS_PMOT2_X: Compass per-motor2 X¶
Compensation for X axis of motor2
COMPASS_PMOT2_Y: Compass per-motor2 Y¶
Compensation for Y axis of motor2
COMPASS_PMOT2_Z: Compass per-motor2 Z¶
Compensation for Z axis of motor2
COMPASS_PMOT3_X: Compass per-motor3 X¶
Compensation for X axis of motor3
COMPASS_PMOT3_Y: Compass per-motor3 Y¶
Compensation for Y axis of motor3
COMPASS_PMOT3_Z: Compass per-motor3 Z¶
Compensation for Z axis of motor3
COMPASS_PMOT4_X: Compass per-motor4 X¶
Compensation for X axis of motor4
COMPASS_PMOT4_Y: Compass per-motor4 Y¶
Compensation for Y axis of motor4
COMPASS_PMOT4_Z: Compass per-motor4 Z¶
Compensation for Z axis of motor4
CUST_ROT Parameters¶
CUST_ROT_ENABLE: Enable Custom rotations¶
This enables custom rotations
Values |
||||||
|---|---|---|---|---|---|---|
|
CUST_ROT1_ Parameters¶
CUST_ROT1_ROLL: Custom roll¶
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT1_PITCH: Custom pitch¶
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT1_YAW: Custom yaw¶
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_ Parameters¶
CUST_ROT2_ROLL: Custom roll¶
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_PITCH: Custom pitch¶
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_YAW: Custom yaw¶
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
DDS Parameters¶
DDS_ENABLE: DDS enable¶
Enable DDS subsystem
Values |
||||||
|---|---|---|---|---|---|---|
|
DDS_UDP_PORT: DDS UDP port¶
UDP port number for DDS
Range |
|---|
1 to 65535 |
DDS_DOMAIN_ID: DDS DOMAIN ID¶
Set the ROS_DOMAIN_ID
Range |
|---|
0 to 232 |
DDS_TIMEOUT_MS: DDS ping timeout¶
The time in milliseconds the DDS client will wait for a response from the XRCE agent before reattempting.
Increment |
Range |
Units |
|---|---|---|
1 |
1 to 10000 |
milliseconds |
DDS_MAX_RETRY: DDS ping max attempts¶
The maximum number of times the DDS client will attempt to ping the XRCE agent before exiting.
Increment |
Range |
|---|---|
1 |
1 to 100 |
DDS_IP Parameters¶
DDS_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
DDS_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
DDS_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
DDS_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
DID_ Parameters¶
DID_ENABLE: Enable ODID subsystem¶
Enable ODID subsystem
Values |
||||||
|---|---|---|---|---|---|---|
|
DID_MAVPORT: MAVLink serial port¶
Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
DID_CANDRIVER: DroneCAN driver number¶
DroneCAN driver index, 0 to disable DroneCAN
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
DID_OPTIONS: OpenDroneID options¶
Options for OpenDroneID subsystem
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
DID_BARO_ACC: Barometer vertical accuraacy¶
Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default
Units |
|---|
meters |
EAHRS Parameters¶
EAHRS_TYPE: AHRS type¶
Type of AHRS device
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EAHRS_RATE: AHRS data rate¶
Requested rate for AHRS device
Units |
|---|
hertz |
EAHRS_OPTIONS: External AHRS options¶
External AHRS options bitmask
Bitmask |
||||
|---|---|---|---|---|
|
EAHRS_SENSORS: External AHRS sensors¶
External AHRS sensors bitmask
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EAHRS_LOG_RATE: AHRS logging rate¶
Logging rate for EARHS devices
Units |
|---|
hertz |
EFI Parameters¶
EFI_TYPE: EFI communication type¶
What method of communication is used for EFI #1
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EFI_COEF1: EFI Calibration Coefficient 1¶
Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle
Range |
|---|
0 to 1 |
EFI_COEF2: EFI Calibration Coefficient 2¶
Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1
Range |
|---|
0 to 10 |
EFI_FUEL_DENS: ECU Fuel Density¶
Used to calculate fuel consumption
Range |
Units |
|---|---|
0 to 10000 |
kilograms per cubic meter |
EFI_THRLIN Parameters¶
EFI_THRLIN_EN: Enable throttle linearisation¶
Enable EFI throttle linearisation
Values |
||||||
|---|---|---|---|---|---|---|
|
EFI_THRLIN_COEF1: Throttle linearisation - First Order¶
First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)
Range |
|---|
-1 to 1 |
EFI_THRLIN_COEF2: Throttle linearisation - Second Order¶
Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)
Range |
|---|
-1 to 1 |
EFI_THRLIN_COEF3: Throttle linearisation - Third Order¶
Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)
Range |
|---|
-1 to 1 |
EFI_THRLIN_OFS: throttle linearization offset¶
Offset for throttle linearization
Range |
|---|
0 to 100 |
EK2_ Parameters¶
EK2_ENABLE: Enable EKF2¶
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 |
||||||
|---|---|---|---|---|---|---|
|
EK2_GPS_TYPE: GPS mode control¶
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 |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 5.0 |
meters per second |
EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 5.0 |
meters per second |
EK2_VEL_I_GATE: GPS velocity innovation gate size¶
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)¶
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.1 to 10.0 |
meters |
EK2_POS_I_GATE: GPS position measurement gate size¶
This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_GLITCH_RAD: GPS glitch radius gate size (m)¶
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
Increment |
Range |
Units |
|---|---|---|
5 |
10 to 100 |
meters |
EK2_ALT_SOURCE: Primary altitude sensor source¶
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 |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_ALT_M_NSE: Altitude measurement noise (m)¶
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.1 to 10.0 |
meters |
EK2_HGT_I_GATE: Height measurement gate size¶
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_HGT_DELAY: Height measurement delay (msec)¶
This is the number of msec that the Height measurements lag behind the inertial measurements.
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 250 |
milliseconds |
EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
|---|---|---|
0.01 |
0.01 to 0.5 |
gauss |
EK2_MAG_CAL: Magnetometer default fusion mode¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_MAG_I_GATE: Magnetometer measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.5 to 5.0 |
meters per second |
EK2_EAS_I_GATE: Airspeed measurement gate size¶
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_RNG_M_NSE: Range finder measurement noise (m)¶
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.1 to 10.0 |
meters |
EK2_RNG_I_GATE: Range finder measurement gate size¶
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_MAX_FLOW: Maximum valid optical flow rate¶
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
Increment |
Range |
Units |
|---|---|---|
0.1 |
1.0 to 4.0 |
radians per second |
EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 1.0 |
radians per second |
EK2_FLOW_I_GATE: Optical Flow measurement gate size¶
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_FLOW_DELAY: Optical Flow measurement delay (msec)¶
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 127 |
milliseconds |
EK2_GYRO_P_NSE: Rate gyro noise (rad/s)¶
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
Increment |
Range |
Units |
|---|---|---|
0.0001 |
0.0001 to 0.1 |
radians per second |
EK2_ACC_P_NSE: Accelerometer noise (m/s^2)¶
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
Increment |
Range |
Units |
|---|---|---|
0.01 |
0.01 to 1.0 |
meters per square second |
EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
Range |
Units |
|---|---|
0.00001 to 0.001 |
radians per square second |
EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)¶
This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.
Range |
Units |
|---|---|
0.000001 to 0.001 |
hertz |
EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
Range |
Units |
|---|---|
0.00001 to 0.005 |
meters per cubic second |
EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)¶
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.01 to 1.0 |
meters per square second |
EK2_WIND_PSCALE: Height rate to wind process noise scaler¶
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
Increment |
Range |
|---|---|
0.1 |
0.0 to 1.0 |
EK2_GPS_CHECK: GPS preflight check¶
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 |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_IMU_MASK: Bitmask of active IMUs¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_CHECK_SCALE: GPS accuracy check scaler (%)¶
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
Range |
Units |
|---|---|
50 to 200 |
percent |
EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
Range |
Units |
|---|---|
0.5 to 50.0 |
meters |
EK2_YAW_M_NSE: Yaw measurement noise (rad)¶
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 1.0 |
radians |
EK2_YAW_I_GATE: Yaw measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶
Sets the time constant of the output complementary filter/predictor in centi-seconds.
Increment |
Range |
Units |
|---|---|---|
5 |
10 to 50 |
centiseconds |
EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
Range |
Units |
|---|---|
0.00001 to 0.01 |
gauss per second |
EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range |
Units |
|---|---|
0.00001 to 0.01 |
gauss per second |
EK2_RNG_USE_HGT: Range finder switch height percentage¶
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 to 70 |
percent |
EK2_TERR_GRAD: Maximum terrain gradient¶
Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.
Increment |
Range |
|---|---|
0.01 |
0 to 0.2 |
EK2_BCN_M_NSE: Range beacon measurement noise (m)¶
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.1 to 10.0 |
meters |
EK2_BCN_I_GTE: Range beacon measurement gate size¶
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK2_BCN_DELAY: Range beacon measurement delay (msec)¶
This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 127 |
milliseconds |
EK2_RNG_USE_SPD: Range finder max ground speed¶
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
Increment |
Range |
Units |
|---|---|---|
0.5 |
2.0 to 6.0 |
meters per second |
EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
EK2_FLOW_USE: Optical flow use bitmask¶
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
EK2_MAG_EF_LIM: EarthField error limit¶
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
Range |
Units |
|---|---|
0 to 500 |
milligauss |
EK2_HRT_FILT: Height rate filter crossover frequency¶
Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
Range |
Units |
|---|---|
0.1 to 30.0 |
hertz |
EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed¶
Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.
Increment |
Range |
|---|---|
1 |
1 to 10 |
EK2_OPTIONS: Optional EKF behaviour¶
optional EKF2 behaviour. Disabling external navigation prevents use of external vision data in the EKF2 solution
Bitmask |
||||
|---|---|---|---|---|
|
EK3_ Parameters¶
EK3_ENABLE: Enable EKF3¶
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 |
||||||
|---|---|---|---|---|---|---|
|
EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 5.0 |
meters per second |
EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 5.0 |
meters per second |
EK3_VEL_I_GATE: GPS velocity innovation gate size¶
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the velocity innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_VEL_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)¶
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.1 to 10.0 |
meters |
EK3_POS_I_GATE: GPS position measurement gate size¶
This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD has been set to 0 the horizontal position innovations will be clipped instead of rejected if they exceed the gate size so a smaller value of EK3_POS_I_GATE not exceeding 300 is recommended to limit the effect of GPS transient errors.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_GLITCH_RAD: GPS glitch radius gate size (m)¶
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.
Increment |
Range |
Units |
|---|---|---|
5 |
10 to 100 |
meters |
EK3_ALT_M_NSE: Altitude measurement noise (m)¶
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors. A larger value for EK3_ALT_M_NSE may be required when operating with EK3_SRCx_POSZ = 0. This parameter also sets the noise for the 'synthetic' zero height measurement that is used when EK3_SRCx_POSZ = 0.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.1 to 100.0 |
meters |
EK3_HGT_I_GATE: Height measurement gate size¶
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. If EK3_GLITCH_RAD set to 0 the vertical position innovations will be clipped instead of rejected if they exceed the gate size and a smaller value of EK3_HGT_I_GATE not exceeding 300 is recommended to limit the effect of height sensor transient errors.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_HGT_DELAY: Height measurement delay (msec)¶
This is the number of msec that the Height measurements lag behind the inertial measurements.
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 250 |
milliseconds |
EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
|---|---|---|
0.01 |
0.01 to 0.5 |
gauss |
EK3_MAG_CAL: Magnetometer default fusion mode¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_MAG_I_GATE: Magnetometer measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.5 to 5.0 |
meters per second |
EK3_EAS_I_GATE: Airspeed measurement gate size¶
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_RNG_M_NSE: Range finder measurement noise (m)¶
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.1 to 10.0 |
meters |
EK3_RNG_I_GATE: Range finder measurement gate size¶
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_MAX_FLOW: Maximum valid optical flow rate¶
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
Increment |
Range |
Units |
|---|---|---|
0.1 |
1.0 to 4.0 |
radians per second |
EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 1.0 |
radians per second |
EK3_FLOW_I_GATE: Optical Flow measurement gate size¶
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_FLOW_DELAY: Optical Flow measurement delay (msec)¶
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 250 |
milliseconds |
EK3_GYRO_P_NSE: Rate gyro noise (rad/s)¶
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
Increment |
Range |
Units |
|---|---|---|
0.0001 |
0.0001 to 0.1 |
radians per second |
EK3_ACC_P_NSE: Accelerometer noise (m/s^2)¶
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
Increment |
Range |
Units |
|---|---|---|
0.01 |
0.01 to 1.0 |
meters per square second |
EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
Range |
Units |
|---|---|
0.00001 to 0.001 |
radians per square second |
EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
Range |
Units |
|---|---|
0.00001 to 0.02 |
meters per cubic second |
EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)¶
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.01 to 2.0 |
meters per square second |
EK3_WIND_PSCALE: Height rate to wind process noise scaler¶
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
Increment |
Range |
|---|---|
0.1 |
0.0 to 2.0 |
EK3_GPS_CHECK: GPS preflight check¶
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 |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_IMU_MASK: Bitmask of active IMUs¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_CHECK_SCALE: GPS accuracy check scaler (%)¶
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
Range |
Units |
|---|---|
50 to 200 |
percent |
EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
Range |
Units |
|---|---|
0.5 to 50.0 |
meters |
EK3_BETA_MASK: Bitmask controlling sidelip angle fusion¶
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 |
||||||
|---|---|---|---|---|---|---|
|
EK3_YAW_M_NSE: Yaw measurement noise (rad)¶
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 1.0 |
radians |
EK3_YAW_I_GATE: Yaw measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶
Sets the time constant of the output complementary filter/predictor in centi-seconds.
Increment |
Range |
Units |
|---|---|---|
5 |
10 to 50 |
centiseconds |
EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
Range |
Units |
|---|---|
0.00001 to 0.01 |
gauss per second |
EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range |
Units |
|---|---|
0.00001 to 0.01 |
gauss per second |
EK3_RNG_USE_HGT: Range finder switch height percentage¶
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 to 70 |
percent |
EK3_TERR_GRAD: Maximum terrain gradient¶
Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
Increment |
Range |
|---|---|
0.01 |
0 to 0.2 |
EK3_BCN_M_NSE: Range beacon measurement noise (m)¶
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.1 to 10.0 |
meters |
EK3_BCN_I_GTE: Range beacon measurement gate size¶
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
|---|---|
25 |
100 to 1000 |
EK3_BCN_DELAY: Range beacon measurement delay (msec)¶
This is the number of msec that the range beacon measurements lag behind the inertial measurements.
Increment |
Range |
Units |
|---|---|---|
10 |
0 to 250 |
milliseconds |
EK3_RNG_USE_SPD: Range finder max ground speed¶
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
Increment |
Range |
Units |
|---|---|---|
0.5 |
2.0 to 6.0 |
meters per second |
EK3_ACC_BIAS_LIM: Accelerometer bias limit¶
The accelerometer bias state will be limited to +- this value
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.5 to 2.5 |
meters per square second |
EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
EK3_VIS_VERR_MIN: Visual odometry minimum velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
Increment |
Range |
Units |
|---|---|---|
0.05 |
0.05 to 0.5 |
meters per second |
EK3_VIS_VERR_MAX: Visual odometry maximum velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.5 to 5.0 |
meters per second |
EK3_WENC_VERR: Wheel odometry velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.01 to 1.0 |
meters per second |
EK3_FLOW_USE: Optical flow use bitmask¶
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
EK3_HRT_FILT: Height rate filter crossover frequency¶
Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
Range |
Units |
|---|---|
0.1 to 30.0 |
hertz |
EK3_MAG_EF_LIM: EarthField error limit¶
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
Range |
Units |
|---|---|
0 to 500 |
milligauss |
EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed¶
Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.
Increment |
Range |
|---|---|
1 |
1 to 10 |
EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold¶
lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences
Increment |
Range |
|---|---|
0.05 |
0.05 to 1 |
EK3_AFFINITY: EKF3 Sensor Affinity Options¶
These options control the affinity between sensor instances and EKF cores
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag¶
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 to 1000.0 |
kilograms per square meter |
EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag¶
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 to 1000.0 |
kilograms per square meter |
EK3_DRAG_M_NSE: Observation noise for drag acceleration¶
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 to 2.0 |
meters per square second |
EK3_DRAG_MCOEF: Momentum coefficient for propeller drag¶
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 to 1.0 |
per second |
EK3_OGNM_TEST_SF: On ground not moving test scale factor¶
This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.
Increment |
Range |
|---|---|
0.5 |
1.0 to 10.0 |
EK3_GND_EFF_DZ: Baro height ground effect dead zone¶
This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.
Increment |
Range |
|---|---|
0.5 |
0.0 to 10.0 |
EK3_PRIMARY: Primary core number¶
The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.
Increment |
Range |
|---|---|
1 |
0 to 2 |
EK3_LOG_LEVEL: Logging Level¶
Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.
Increment |
Range |
|---|---|
1 |
0 to 3 |
EK3_GPS_VACC_MAX: GPS vertical accuracy threshold¶
Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0.0 to 10.0 |
meters |
EK3_OPTIONS: Optional EKF behaviour¶
This controls optional EKF behaviour. Setting JammingExpected will change the EKF nehaviour such that if dead reckoning navigation is possible it will require the preflight alignment GPS quality checks controlled by EK3_GPS_CHECK and EK3_CHECK_SCALE to pass before resuming GPS use if GPS lock is lost for more than 2 seconds to prevent bad
Bitmask |
||||
|---|---|---|---|---|
|
EK3_SRC Parameters¶
EK3_SRC1_POSXY: Position Horizontal Source (Primary)¶
Position Horizontal Source (Primary)
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_VELXY: Velocity Horizontal Source¶
Velocity Horizontal Source
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_POSZ: Position Vertical Source¶
Position Vertical Source
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_VELZ: Velocity Vertical Source¶
Velocity Vertical Source
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_YAW: Yaw Source¶
Yaw Source
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_POSXY: Position Horizontal Source (Secondary)¶
Position Horizontal Source (Secondary)
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)¶
Velocity Horizontal Source (Secondary)
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_POSZ: Position Vertical Source (Secondary)¶
Position Vertical Source (Secondary)
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)¶
Velocity Vertical Source (Secondary)
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_YAW: Yaw Source (Secondary)¶
Yaw Source (Secondary)
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)¶
Position Horizontal Source (Tertiary)
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)¶
Velocity Horizontal Source (Tertiary)
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_POSZ: Position Vertical Source (Tertiary)¶
Position Vertical Source (Tertiary)
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)¶
Velocity Vertical Source (Tertiary)
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_YAW: Yaw Source (Tertiary)¶
Yaw Source (Tertiary)
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC_OPTIONS: EKF Source Options¶
EKF Source Options
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
ESC_TLM Parameters¶
ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset¶
Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets
Increment |
Range |
|---|---|
1 |
0 to 31 |
FENCE_ Parameters¶
FENCE_ENABLE: Fence enable/disable¶
Allows you to enable (1) or disable (0) the fence functionality. Fences can still be enabled and disabled via mavlink or an RC option, but these changes are not persisted.
Values |
||||||
|---|---|---|---|---|---|---|
|
FENCE_ACTION: Fence Action¶
What action should be taken when fence is breached
Values |
||||||
|---|---|---|---|---|---|---|
|
FENCE_RADIUS: Circular Fence Radius¶
Circle fence radius which when breached will cause an RTL
Range |
Units |
|---|---|
30 to 10000 |
meters |
FENCE_MARGIN: Fence Margin¶
Distance that autopilot's should maintain from the fence to avoid a breach
Range |
Units |
|---|---|
1 to 10 |
meters |
FENCE_TOTAL: Fence polygon point total¶
Number of polygon points saved in eeprom (do not update manually)
Range |
|---|
1 to 20 |
FFT_ Parameters¶
FFT_ENABLE: Enable¶
Enable Gyro FFT analyser
Values |
||||||
|---|---|---|---|---|---|---|
|
FFT_MINHZ: Minimum Frequency¶
Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.
Range |
Units |
|---|---|
20 to 400 |
hertz |
FFT_MAXHZ: Maximum Frequency¶
Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.
Range |
Units |
|---|---|
20 to 495 |
hertz |
FFT_SAMPLE_MODE: Sample Mode¶
Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.
Range |
|---|
0 to 4 |
FFT_WINDOW_SIZE: FFT window size¶
Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.
Range |
|---|
32 to 1024 |
FFT_WINDOW_OLAP: FFT window overlap¶
Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.
Range |
|---|
0 to 0.9 |
FFT_FREQ_HOVER: FFT learned hover frequency¶
The learned hover noise frequency
Range |
|---|
0 to 250 |
FFT_THR_REF: FFT learned thrust reference¶
FFT learned thrust reference for the hover frequency and FFT minimum frequency.
Range |
|---|
0.01 to 0.9 |
FFT_SNR_REF: FFT SNR reference threshold¶
FFT SNR reference threshold in dB at which a signal is determined to be present.
Range |
|---|
0.0 to 100.0 |
FFT_ATT_REF: FFT attenuation for bandwidth calculation¶
FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.
Range |
|---|
0 to 100 |
FFT_BW_HOVER: FFT learned bandwidth at hover¶
FFT learned bandwidth at hover for the attenuation frequencies.
Range |
|---|
0 to 200 |
FFT_HMNC_FIT: FFT harmonic fit frequency threshold¶
FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.
Range |
|---|
0 to 100 |
FFT_HMNC_PEAK: FFT harmonic peak target¶
The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FFT_NUM_FRAMES: FFT output frames to retain and average¶
Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.
Range |
|---|
0 to 8 |
FFT_OPTIONS: FFT options¶
FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
FILT1_ Parameters¶
FILT1_TYPE: Filter Type¶
Filter Type
Values |
||||||
|---|---|---|---|---|---|---|
|
FILT1_NOTCH_FREQ: Notch Filter center frequency¶
Notch Filter center frequency in Hz.
Range |
Units |
|---|---|
10 to 495 |
hertz |
FILT1_NOTCH_Q: Notch Filter quality factor¶
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Range |
|---|
1 to 10 |
FILT1_NOTCH_ATT: Notch Filter attenuation¶
Notch Filter attenuation in dB.
Range |
Units |
|---|---|
5 to 50 |
decibel |
FILT2_ Parameters¶
FILT2_TYPE: Filter Type¶
Filter Type
Values |
||||||
|---|---|---|---|---|---|---|
|
FILT2_NOTCH_FREQ: Notch Filter center frequency¶
Notch Filter center frequency in Hz.
Range |
Units |
|---|---|
10 to 495 |
hertz |
FILT2_NOTCH_Q: Notch Filter quality factor¶
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Range |
|---|
1 to 10 |
FILT2_NOTCH_ATT: Notch Filter attenuation¶
Notch Filter attenuation in dB.
Range |
Units |
|---|---|
5 to 50 |
decibel |
FILT3_ Parameters¶
FILT3_TYPE: Filter Type¶
Filter Type
Values |
||||||
|---|---|---|---|---|---|---|
|
FILT3_NOTCH_FREQ: Notch Filter center frequency¶
Notch Filter center frequency in Hz.
Range |
Units |
|---|---|
10 to 495 |
hertz |
FILT3_NOTCH_Q: Notch Filter quality factor¶
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Range |
|---|
1 to 10 |
FILT3_NOTCH_ATT: Notch Filter attenuation¶
Notch Filter attenuation in dB.
Range |
Units |
|---|---|
5 to 50 |
decibel |
FILT4_ Parameters¶
FILT4_TYPE: Filter Type¶
Filter Type
Values |
||||||
|---|---|---|---|---|---|---|
|
FILT4_NOTCH_FREQ: Notch Filter center frequency¶
Notch Filter center frequency in Hz.
Range |
Units |
|---|---|
10 to 495 |
hertz |
FILT4_NOTCH_Q: Notch Filter quality factor¶
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Range |
|---|
1 to 10 |
FILT4_NOTCH_ATT: Notch Filter attenuation¶
Notch Filter attenuation in dB.
Range |
Units |
|---|---|
5 to 50 |
decibel |
FILT5_ Parameters¶
FILT5_TYPE: Filter Type¶
Filter Type
Values |
||||||
|---|---|---|---|---|---|---|
|
FILT5_NOTCH_FREQ: Notch Filter center frequency¶
Notch Filter center frequency in Hz.
Range |
Units |
|---|---|
10 to 495 |
hertz |
FILT5_NOTCH_Q: Notch Filter quality factor¶
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Range |
|---|
1 to 10 |
FILT5_NOTCH_ATT: Notch Filter attenuation¶
Notch Filter attenuation in dB.
Range |
Units |
|---|---|
5 to 50 |
decibel |
FILT6_ Parameters¶
FILT6_TYPE: Filter Type¶
Filter Type
Values |
||||||
|---|---|---|---|---|---|---|
|
FILT6_NOTCH_FREQ: Notch Filter center frequency¶
Notch Filter center frequency in Hz.
Range |
Units |
|---|---|
10 to 495 |
hertz |
FILT6_NOTCH_Q: Notch Filter quality factor¶
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Range |
|---|
1 to 10 |
FILT6_NOTCH_ATT: Notch Filter attenuation¶
Notch Filter attenuation in dB.
Range |
Units |
|---|---|
5 to 50 |
decibel |
FILT7_ Parameters¶
FILT7_TYPE: Filter Type¶
Filter Type
Values |
||||||
|---|---|---|---|---|---|---|
|
FILT7_NOTCH_FREQ: Notch Filter center frequency¶
Notch Filter center frequency in Hz.
Range |
Units |
|---|---|
10 to 495 |
hertz |
FILT7_NOTCH_Q: Notch Filter quality factor¶
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Range |
|---|
1 to 10 |
FILT7_NOTCH_ATT: Notch Filter attenuation¶
Notch Filter attenuation in dB.
Range |
Units |
|---|---|
5 to 50 |
decibel |
FILT8_ Parameters¶
FILT8_TYPE: Filter Type¶
Filter Type
Values |
||||||
|---|---|---|---|---|---|---|
|
FILT8_NOTCH_FREQ: Notch Filter center frequency¶
Notch Filter center frequency in Hz.
Range |
Units |
|---|---|
10 to 495 |
hertz |
FILT8_NOTCH_Q: Notch Filter quality factor¶
Notch Filter quality factor given by the notch centre frequency divided by its bandwidth.
Range |
|---|
1 to 10 |
FILT8_NOTCH_ATT: Notch Filter attenuation¶
Notch Filter attenuation in dB.
Range |
Units |
|---|---|
5 to 50 |
decibel |
FINS_ Parameters¶
FINS_FREQ_HZ: Fins frequency¶
This is the oscillation frequency of the fins
Range |
|---|
1 to 10 |
FINS_TURBO_MODE: Enable turbo mode¶
Enables double speed on high offset.
Range |
|---|
0 to 1 |
FRSKY_ Parameters¶
FRSKY_UPLINK_ID: Uplink sensor id¶
Change the uplink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK1_ID: First downlink sensor id¶
Change the first extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK2_ID: Second downlink sensor id¶
Change the second extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK_ID: Default downlink sensor id¶
Change the default downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_OPTIONS: FRSky Telemetry Options¶
A bitmask to set some FRSky Telemetry specific options
Bitmask |
||||
|---|---|---|---|---|
|
GEN_ Parameters¶
GEN_TYPE: Generator type¶
Generator type
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GEN_OPTIONS: Generator Options¶
Bitmask of options for generators
Bitmask |
||||
|---|---|---|---|---|
|
GPS Parameters¶
GPS_AUTO_SWITCH: Automatic Switchover Setting¶
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_SBAS_MODE: SBAS Mode¶
This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_MIN_ELEV: Minimum elevation¶
This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.
Range |
Units |
|---|---|
-100 to 90 |
degrees |
GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶
The GGS can send raw serial packets to inject data to multiple GPSes.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_RAW_DATA: Raw data logging¶
Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_SAVE_CFG: Save GPS configuration¶
Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_AUTO_CONFIG: Automatic GPS configuration¶
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_BLEND_MASK: Multi GPS Blending Mask¶
Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_DRV_OPTIONS: driver options¶
Additional backend specific options
Bitmask |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_PRIMARY: Primary GPS¶
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
Increment |
Values |
||||||
|---|---|---|---|---|---|---|---|
1 |
|
GPS1_ Parameters¶
GPS1_TYPE: GPS type¶
GPS type
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS1_GNSS_MODE: GNSS system configuration¶
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS1_RATE_MS: GPS update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|---|
50 to 200 |
milliseconds |
|
GPS1_POS_X: Antenna X position offset¶
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS1_POS_Y: Antenna Y position offset¶
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS1_POS_Z: Antenna Z position offset¶
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS1_DELAY_MS: GPS delay in milliseconds¶
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Range |
Units |
|---|---|
0 to 250 |
milliseconds |
GPS1_COM_PORT: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
Increment |
Range |
Values |
||||||
|---|---|---|---|---|---|---|---|---|
1 |
0 to 10 |
|
GPS1_CAN_NODEID: Detected CAN Node ID for GPS¶
GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
ReadOnly |
|---|
True |
GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID¶
GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.
GPS1_MB_ Parameters¶
GPS1_MB_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS1_MB_OFS_X: Base antenna X position offset¶
X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS1_MB_OFS_Y: Base antenna Y position offset¶
Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS1_MB_OFS_Z: Base antenna Z position offset¶
Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_ Parameters¶
GPS2_TYPE: GPS type¶
GPS type
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS2_GNSS_MODE: GNSS system configuration¶
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS2_RATE_MS: GPS update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|---|
50 to 200 |
milliseconds |
|
GPS2_POS_X: Antenna X position offset¶
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_POS_Y: Antenna Y position offset¶
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_POS_Z: Antenna Z position offset¶
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_DELAY_MS: GPS delay in milliseconds¶
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Range |
Units |
|---|---|
0 to 250 |
milliseconds |
GPS2_COM_PORT: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
Increment |
Range |
Values |
||||||
|---|---|---|---|---|---|---|---|---|
1 |
0 to 10 |
|
GPS2_CAN_NODEID: Detected CAN Node ID for GPS¶
GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
ReadOnly |
|---|
True |
GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID¶
GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.
GPS2_MB_ Parameters¶
GPS2_MB_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS2_MB_OFS_X: Base antenna X position offset¶
X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_MB_OFS_Y: Base antenna Y position offset¶
Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_MB_OFS_Z: Base antenna Z position offset¶
Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB1_ Parameters¶
GPS_MB1_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS_MB1_OFS_X: Base antenna X position offset¶
X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB1_OFS_Y: Base antenna Y position offset¶
Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB1_OFS_Z: Base antenna Z position offset¶
Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_ Parameters¶
GPS_MB2_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS_MB2_OFS_X: Base antenna X position offset¶
X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_X.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_OFS_Y: Base antenna Y position offset¶
Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_OFS_Z: Base antenna Z position offset¶
Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GRIP_ Parameters¶
GRIP_ENABLE: Gripper Enable/Disable¶
Gripper enable/disable
Values |
||||||
|---|---|---|---|---|---|---|
|
GRIP_TYPE: Gripper Type¶
Gripper enable/disable
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GRIP_GRAB: Gripper Grab PWM¶
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
Range |
Units |
|---|---|
1000 to 2000 |
PWM in microseconds |
GRIP_RELEASE: Gripper Release PWM¶
PWM value in microseconds sent to Gripper to release the cargo
Range |
Units |
|---|---|
1000 to 2000 |
PWM in microseconds |
GRIP_NEUTRAL: Neutral PWM¶
PWM value in microseconds sent to grabber when not grabbing or releasing
Range |
Units |
|---|---|
1000 to 2000 |
PWM in microseconds |
GRIP_REGRAB: EPM Gripper Regrab interval¶
Time in seconds that EPM gripper will regrab the cargo to ensure grip has not weakened; 0 to disable
Range |
Units |
|---|---|
0 to 255 |
seconds |
GRIP_CAN_ID: EPM UAVCAN Hardpoint ID¶
Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface
Range |
|---|
0 to 255 |
GRIP_AUTOCLOSE: Gripper Autoclose time¶
Time in seconds that gripper close the gripper after opening; 0 to disable
Range |
Units |
|---|---|
0.25 to 255 |
seconds |
INS Parameters¶
INS_GYROFFS_X: Gyro offsets of X axis¶
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYROFFS_Y: Gyro offsets of Y axis¶
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYROFFS_Z: Gyro offsets of Z axis¶
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR2OFFS_X: Gyro2 offsets of X axis¶
Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR2OFFS_Y: Gyro2 offsets of Y axis¶
Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR2OFFS_Z: Gyro2 offsets of Z axis¶
Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR3OFFS_X: Gyro3 offsets of X axis¶
Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR3OFFS_Y: Gyro3 offsets of Y axis¶
Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR3OFFS_Z: Gyro3 offsets of Z axis¶
Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_ACCSCAL_X: Accelerometer scaling of X axis¶
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACCSCAL_Y: Accelerometer scaling of Y axis¶
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACCSCAL_Z: Accelerometer scaling of Z axis¶
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACCOFFS_X: Accelerometer offsets of X axis¶
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACCOFFS_Y: Accelerometer offsets of Y axis¶
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACCOFFS_Z: Accelerometer offsets of Z axis¶
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC2SCAL_X: Accelerometer2 scaling of X axis¶
Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis¶
Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis¶
Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC2OFFS_X: Accelerometer2 offsets of X axis¶
Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis¶
Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis¶
Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC3SCAL_X: Accelerometer3 scaling of X axis¶
Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis¶
Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis¶
Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC3OFFS_X: Accelerometer3 offsets of X axis¶
Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis¶
Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis¶
Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_GYRO_FILTER: Gyro filter cutoff frequency¶
Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Range |
Units |
|---|---|
0 to 256 |
hertz |
INS_ACCEL_FILTER: Accel filter cutoff frequency¶
Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Range |
Units |
|---|---|
0 to 256 |
hertz |
INS_USE: Use first IMU for attitude, velocity and position estimates¶
Use first IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_USE2: Use second IMU for attitude, velocity and position estimates¶
Use second IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_USE3: Use third IMU for attitude, velocity and position estimates¶
Use third IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_STILL_THRESH: Stillness threshold for detecting if we are moving¶
Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
Range |
|---|
0.05 to 50 |
INS_GYR_CAL: Gyro Calibration scheme¶
Conrols when automatic gyro calibration is performed
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_TRIM_OPTION: Accel cal trim option¶
Specifies how the accel cal routine determines the trims
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_ACC_BODYFIX: Body-fixed accelerometer¶
The body-fixed accelerometer to be used for trim calculation
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_POS1_X: IMU accelerometer X position¶
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS1_Y: IMU accelerometer Y position¶
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS1_Z: IMU accelerometer Z position¶
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS2_X: IMU accelerometer X position¶
X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS2_Y: IMU accelerometer Y position¶
Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS2_Z: IMU accelerometer Z position¶
Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS3_X: IMU accelerometer X position¶
X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Range |
Units |
|---|---|
-10 to 10 |
meters |
INS_POS3_Y: IMU accelerometer Y position¶
Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS3_Z: IMU accelerometer Z position¶
Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_GYR_ID: Gyro ID¶
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_GYR2_ID: Gyro2 ID¶
Gyro2 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_GYR3_ID: Gyro3 ID¶
Gyro3 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_ACC2_ID: Accelerometer2 ID¶
Accelerometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_ACC3_ID: Accelerometer3 ID¶
Accelerometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_FAST_SAMPLE: Fast sampling mask¶
Mask of IMUs to enable fast sampling on, if available
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_ENABLE_MASK: IMU enable mask¶
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled¶
Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer¶
Temperature that the 1st accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope¶
Temperature that the 1st gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer¶
Temperature that the 2nd accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope¶
Temperature that the 2nd gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer¶
Temperature that the 3rd accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope¶
Temperature that the 3rd gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_TCAL_OPTIONS: Options for temperature calibration¶
This enables optional temperature calibration features. Setting of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
INS_RAW_LOG_OPT: Raw logging options¶
Raw logging options bitmask
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
INS4_ Parameters¶
INS4_USE: Use first IMU for attitude, velocity and position estimates¶
Use first IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS4_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS4_ACCSCAL_X: Accelerometer scaling of X axis¶
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS4_ACCSCAL_Y: Accelerometer scaling of Y axis¶
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS4_ACCSCAL_Z: Accelerometer scaling of Z axis¶
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS4_ACCOFFS_X: Accelerometer offsets of X axis¶
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS4_ACCOFFS_Y: Accelerometer offsets of Y axis¶
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS4_ACCOFFS_Z: Accelerometer offsets of Z axis¶
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS4_POS_X: IMU accelerometer X position¶
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS4_POS_Y: IMU accelerometer Y position¶
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS4_POS_Z: IMU accelerometer Z position¶
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS4_ACC_CALTEMP: Calibration temperature for accelerometer¶
Temperature that the accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS4_GYR_ID: Gyro ID¶
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS4_GYROFFS_X: Gyro offsets of X axis¶
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS4_GYROFFS_Y: Gyro offsets of Y axis¶
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS4_GYROFFS_Z: Gyro offsets of Z axis¶
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS4_GYR_CALTEMP: Calibration temperature for gyroscope¶
Temperature that the gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS4_TCAL_ Parameters¶
INS4_TCAL_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS4_TCAL_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS4_TCAL_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS4_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_ Parameters¶
INS5_USE: Use first IMU for attitude, velocity and position estimates¶
Use first IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS5_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS5_ACCSCAL_X: Accelerometer scaling of X axis¶
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS5_ACCSCAL_Y: Accelerometer scaling of Y axis¶
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS5_ACCSCAL_Z: Accelerometer scaling of Z axis¶
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS5_ACCOFFS_X: Accelerometer offsets of X axis¶
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS5_ACCOFFS_Y: Accelerometer offsets of Y axis¶
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS5_ACCOFFS_Z: Accelerometer offsets of Z axis¶
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS5_POS_X: IMU accelerometer X position¶
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS5_POS_Y: IMU accelerometer Y position¶
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS5_POS_Z: IMU accelerometer Z position¶
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS5_ACC_CALTEMP: Calibration temperature for accelerometer¶
Temperature that the accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS5_GYR_ID: Gyro ID¶
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS5_GYROFFS_X: Gyro offsets of X axis¶
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS5_GYROFFS_Y: Gyro offsets of Y axis¶
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS5_GYROFFS_Z: Gyro offsets of Z axis¶
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS5_GYR_CALTEMP: Calibration temperature for gyroscope¶
Temperature that the gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS5_TCAL_ Parameters¶
INS5_TCAL_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS5_TCAL_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS5_TCAL_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS5_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_HNTC2_ Parameters¶
INS_HNTC2_ENABLE: Harmonic Notch Filter enable¶
Harmonic Notch Filter enable
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_HNTC2_FREQ: Harmonic Notch Filter base frequency¶
Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).
Range |
Units |
|---|---|
10 to 495 |
hertz |
INS_HNTC2_BW: Harmonic Notch Filter bandwidth¶
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Range |
Units |
|---|---|
5 to 250 |
hertz |
INS_HNTC2_ATT: Harmonic Notch Filter attenuation¶
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Range |
Units |
|---|---|
5 to 50 |
decibel |
INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics¶
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTC2_REF: Harmonic Notch Filter reference value¶
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Range |
|---|
0.0 to 1.0 |
INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode¶
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.
Range |
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 5 |
|
INS_HNTC2_OPTS: Harmonic Notch Filter options¶
Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.
Bitmask |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTC2_FM_RAT: Throttle notch min freqency ratio¶
The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.
Range |
|---|
0.1 to 1.0 |
INS_HNTCH_ Parameters¶
INS_HNTCH_ENABLE: Harmonic Notch Filter enable¶
Harmonic Notch Filter enable
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_HNTCH_FREQ: Harmonic Notch Filter base frequency¶
Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).
Range |
Units |
|---|---|
10 to 495 |
hertz |
INS_HNTCH_BW: Harmonic Notch Filter bandwidth¶
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Range |
Units |
|---|---|
5 to 250 |
hertz |
INS_HNTCH_ATT: Harmonic Notch Filter attenuation¶
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Range |
Units |
|---|---|
5 to 50 |
decibel |
INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics¶
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTCH_REF: Harmonic Notch Filter reference value¶
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Range |
|---|
0.0 to 1.0 |
INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode¶
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.
Range |
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 to 5 |
|
INS_HNTCH_OPTS: Harmonic Notch Filter options¶
Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency than single notches and are suitable for larger aircraft. Multi-Source attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz. If both double and triple notches are specified only double notches will take effect.
Bitmask |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTCH_FM_RAT: Throttle notch min freqency ratio¶
The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.
Range |
|---|
0.1 to 1.0 |
INS_LOG_ Parameters¶
INS_LOG_BAT_CNT: sample count per batch¶
Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.
Increment |
|---|
32 |
INS_LOG_BAT_MASK: Sensor Bitmask¶
Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_LOG_BAT_OPT: Batch Logging Options Mask¶
Options for the BatchSampler.
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_LOG_BAT_LGIN: logging interval¶
Interval between pushing samples to the AP_Logger log
Increment |
Units |
|---|---|
10 |
milliseconds |
INS_LOG_BAT_LGCT: logging count¶
Number of samples to push to count every INS_LOG_BAT_LGIN
Increment |
|---|
1 |
INS_TCAL1_ Parameters¶
INS_TCAL1_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_TCAL1_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL1_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ Parameters¶
INS_TCAL2_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_TCAL2_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL2_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ Parameters¶
INS_TCAL3_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_TCAL3_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL3_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
KDE_ Parameters¶
KDE_NPOLE: Number of motor poles¶
Sets the number of motor poles to calculate the correct RPM value
LOG Parameters¶
LOG_BACKEND_TYPE: AP_Logger Backend Storage type¶
Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)¶
The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.
LOG_DISARMED: Enable logging while disarmed¶
If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
LOG_REPLAY: Enable logging of information needed for Replay¶
If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.
Values |
||||||
|---|---|---|---|---|---|---|
|
LOG_FILE_DSRMROT: Stop logging to current file on disarm¶
When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.
Values |
||||||
|---|---|---|---|---|---|---|
|
LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size¶
Maximum amount of memory to allocate to AP_Logger-over-mavlink
Units |
|---|
kilobytes |
LOG_FILE_TIMEOUT: Timeout before giving up on file writes¶
This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.
Units |
|---|
seconds |
LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space¶
Set this such that the free space is larger than your largest typical flight log
Range |
Units |
|---|---|
10 to 1000 |
megabyte |
LOG_FILE_RATEMAX: Maximum logging rate for file backend¶
This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0 to 1000 |
hertz |
LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend¶
This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0 to 1000 |
hertz |
LOG_BLK_RATEMAX: Maximum logging rate for block backend¶
This sets the maximum rate that streaming log messages will be logged to the block backend. A value of zero means that rate limiting is disabled.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0 to 1000 |
hertz |
LOG_DARM_RATEMAX: Maximum logging rate when disarmed¶
This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0 to 1000 |
hertz |
LOG_MAX_FILES: Maximum number of log files¶
This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.
Increment |
Range |
|---|---|
1 |
2 to 500 |
MSP Parameters¶
MSP_OSD_NCELLS: Cell count override¶
Used for average cell voltage calculation
Values |
||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MSP_OPTIONS: MSP OSD Options¶
A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NET_ Parameters¶
NET_ENABLE: Networking Enable¶
Networking Enable
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_NETMASK: IP Subnet mask¶
Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0
Range |
|---|
0 to 32 |
NET_DHCP: DHCP client¶
Enable/Disable DHCP client
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_TESTS: Test enable flags¶
Enable/Disable networking tests
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NET_OPTIONS: Networking options¶
Networking options
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NET_GWADDR Parameters¶
NET_GWADDR0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_GWADDR1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_GWADDR2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
NET_GWADDR3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_IPADDR Parameters¶
NET_IPADDR0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_IPADDR1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_IPADDR2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
NET_IPADDR3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_MACADDR Parameters¶
NET_MACADDR0: MAC Address 1st byte¶
MAC address 1st byte
Range |
|---|
0 to 255 |
NET_MACADDR1: MAC Address 2nd byte¶
MAC address 2nd byte
Range |
|---|
0 to 255 |
NET_MACADDR2: MAC Address 3rd byte¶
MAC address 3rd byte
Range |
|---|
0 to 255 |
NET_MACADDR3: MAC Address 4th byte¶
MAC address 4th byte
Range |
|---|
0 to 255 |
NET_MACADDR4: MAC Address 5th byte¶
MAC address 5th byte
Range |
|---|
0 to 255 |
NET_MACADDR5: MAC Address 6th byte¶
MAC address 6th byte
Range |
|---|
0 to 255 |
NET_P1_ Parameters¶
NET_P1_TYPE: Port type¶
Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P1_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P1_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P1_IP Parameters¶
NET_P1_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P1_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P1_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
NET_P1_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P2_ Parameters¶
NET_P2_TYPE: Port type¶
Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P2_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P2_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P2_IP Parameters¶
NET_P2_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P2_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P2_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
NET_P2_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P3_ Parameters¶
NET_P3_TYPE: Port type¶
Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P3_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P3_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P3_IP Parameters¶
NET_P3_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P3_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P3_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
NET_P3_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P4_ Parameters¶
NET_P4_TYPE: Port type¶
Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P4_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P4_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P4_IP Parameters¶
NET_P4_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P4_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P4_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
NET_P4_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_REMPPP_IP Parameters¶
NET_REMPPP_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_REMPPP_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_REMPPP_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
NET_REMPPP_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_TEST_IP Parameters¶
NET_TEST_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_TEST_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_TEST_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.13.xxx
Range |
|---|
0 to 255 |
NET_TEST_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NMEA_ Parameters¶
NMEA_RATE_MS: NMEA Output rate¶
NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.
Increment |
Range |
Units |
|---|---|---|
1 |
20 to 2000 |
milliseconds |
NMEA_MSG_EN: Messages Enable bitmask¶
This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_ Parameters¶
NTF_LED_BRIGHT: LED Brightness¶
Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_TYPES: Buzzer Driver Types¶
Controls what types of Buzzer will be enabled
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_LED_OVERRIDE: Specifies colour source for the RGBLed¶
Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_DISPLAY_TYPE: Type of on-board I2C display¶
This sets up the type of on-board I2C display. Disabled by default.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_OREO_THEME: OreoLED Theme¶
Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_PIN: Buzzer pin¶
Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values |
||||
|---|---|---|---|---|
|
NTF_LED_TYPES: LED Driver Types¶
Controls what types of LEDs will be enabled
Bitmask |
||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_ON_LVL: Buzzer-on pin logic level¶
Specifies pin level that indicates buzzer should play
Values |
||||||
|---|---|---|---|---|---|---|
|
NTF_BUZZ_VOLUME: Buzzer volume¶
Control the volume of the buzzer
Range |
Units |
|---|---|
0 to 100 |
percent |
NTF_LED_LEN: Serial LED String Length¶
The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
Range |
|---|
1 to 32 |
RC Parameters¶
RC_OVERRIDE_TIME: RC override timeout¶
Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
Range |
Units |
|---|---|
0.0 to 120.0 |
seconds |
RC_OPTIONS: RC options¶
RC input options
Bitmask |
||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC_PROTOCOLS: RC protocols enabled¶
Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
Bitmask |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC_FS_TIMEOUT: RC Failsafe timeout¶
RC failsafe will trigger this many seconds after loss of RC
Range |
Units |
|---|---|
0.5 to 10.0 |
seconds |
RC10_ Parameters¶
RC10_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC10_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC10_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC10_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC10_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC10_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC11_ Parameters¶
RC11_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC11_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC11_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC11_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC11_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC11_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC12_ Parameters¶
RC12_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC12_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC12_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC12_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC12_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC12_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC13_ Parameters¶
RC13_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC13_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC13_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC13_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC13_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC13_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC14_ Parameters¶
RC14_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC14_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC14_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC14_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC14_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC14_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC15_ Parameters¶
RC15_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC15_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC15_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC15_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC15_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC15_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC16_ Parameters¶
RC16_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC16_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC16_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC16_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC16_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC16_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC1_ Parameters¶
RC1_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC1_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC1_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC1_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC1_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC1_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC2_ Parameters¶
RC2_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC2_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC2_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC2_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC2_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC2_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC3_ Parameters¶
RC3_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC3_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC3_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC3_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC3_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC3_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC4_ Parameters¶
RC4_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC4_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC4_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC4_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC4_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC4_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC5_ Parameters¶
RC5_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC5_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC5_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC5_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC5_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC5_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC6_ Parameters¶
RC6_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC6_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC6_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC6_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC6_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC6_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC7_ Parameters¶
RC7_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC7_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC7_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC7_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC7_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC7_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC8_ Parameters¶
RC8_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC8_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC8_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC8_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC8_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC8_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC9_ Parameters¶
RC9_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC9_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC9_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
RC9_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
RC9_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
|---|---|
0 to 200 |
PWM in microseconds |
RC9_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RCMAP_ Parameters¶
RCMAP_ROLL: Roll channel¶
Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Increment |
Range |
|---|---|
1 |
1 to 16 |
RCMAP_PITCH: Pitch channel¶
Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Increment |
Range |
|---|---|
1 |
1 to 16 |
RCMAP_THROTTLE: Throttle channel¶
Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Increment |
Range |
|---|---|
1 |
1 to 16 |
RCMAP_YAW: Yaw channel¶
Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Increment |
Range |
|---|---|
1 |
1 to 16 |
RSSI_ Parameters¶
RSSI_TYPE: RSSI Type¶
Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RSSI_ANA_PIN: Receiver RSSI sensing pin¶
Pin used to read the RSSI voltage or PWM value. Analog Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.
Values |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RSSI_PIN_LOW: RSSI pin's lowest voltage¶
RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.
Increment |
Range |
Units |
|---|---|---|
0.01 |
0 to 5.0 |
volt |
RSSI_PIN_HIGH: RSSI pin's highest voltage¶
RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW. When using pin 103, the maximum value of the parameter is 3.3V.
Increment |
Range |
Units |
|---|---|---|
0.01 |
0 to 5.0 |
volt |
RSSI_CHANNEL: Receiver RSSI channel number¶
The channel number where RSSI will be output by the radio receiver (5 and above).
Range |
|---|
0 to 16 |
RSSI_CHAN_LOW: RSSI PWM low value¶
PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH
Range |
Units |
|---|---|
0 to 2000 |
PWM in microseconds |
RSSI_CHAN_HIGH: Receiver RSSI PWM high value¶
PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW
Range |
Units |
|---|---|
0 to 2000 |
PWM in microseconds |
SCHED_ Parameters¶
SCHED_DEBUG: Scheduler debug level¶
Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
SCHED_LOOP_RATE: Scheduling main loop rate¶
This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.
Range |
Units |
|---|---|
50 to 400 |
hertz |
SCHED_OPTIONS: Scheduling options¶
This controls optional aspects of the scheduler.
Bitmask |
||||
|---|---|---|---|---|
|
SCR_ Parameters¶
SCR_ENABLE: Enable Scripting¶
Controls if scripting is enabled
Values |
||||||
|---|---|---|---|---|---|---|
|
SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count¶
The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
Increment |
Range |
|---|---|
10000 |
1000 to 1000000 |
SCR_HEAP_SIZE: Scripting Heap Size¶
Amount of memory available for scripting
Increment |
Range |
|---|---|
1024 |
1024 to 1048576 |
SCR_DEBUG_OPTS: Scripting Debug Level¶
Debugging options
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SCR_USER1: Scripting User Parameter1¶
General purpose user variable input for scripts
SCR_USER2: Scripting User Parameter2¶
General purpose user variable input for scripts
SCR_USER3: Scripting User Parameter3¶
General purpose user variable input for scripts
SCR_USER4: Scripting User Parameter4¶
General purpose user variable input for scripts
SCR_USER5: Scripting User Parameter5¶
General purpose user variable input for scripts
SCR_USER6: Scripting User Parameter6¶
General purpose user variable input for scripts
SCR_DIR_DISABLE: Directory disable¶
This will stop scripts being loaded from the given locations
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
SCR_LD_CHECKSUM: Loaded script checksum¶
Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables
SCR_RUN_CHECKSUM: Running script checksum¶
Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables
SCR_THD_PRIORITY: Scripting thread priority¶
This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SCR_SDEV_EN: Scripting serial device enable¶
Enable scripting serial devices
Values |
||||||
|---|---|---|---|---|---|---|
|
SCR_SDEV1_PROTO: Serial protocol of scripting serial device¶
Serial protocol of scripting serial device
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SCR_SDEV2_PROTO: Serial protocol of scripting serial device¶
Serial protocol of scripting serial device
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SCR_SDEV3_PROTO: Serial protocol of scripting serial device¶
Serial protocol of scripting serial device
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL Parameters¶
SERIAL0_BAUD: Serial0 baud rate¶
The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL0_PROTOCOL: Console protocol selection¶
Control what protocol to use on the console.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERIAL1_PROTOCOL: Telem1 protocol selection¶
Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL1_BAUD: Telem1 Baud Rate¶
The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL2_PROTOCOL: Telemetry 2 protocol selection¶
Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL2_BAUD: Telemetry 2 Baud Rate¶
The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection¶
Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL3_BAUD: Serial 3 (GPS) Baud Rate¶
The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL4_PROTOCOL: Serial4 protocol selection¶
Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL4_BAUD: Serial 4 Baud Rate¶
The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL5_PROTOCOL: Serial5 protocol selection¶
Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL5_BAUD: Serial 5 Baud Rate¶
The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL6_PROTOCOL: Serial6 protocol selection¶
Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL6_BAUD: Serial 6 Baud Rate¶
The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL1_OPTIONS: Telem1 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL2_OPTIONS: Telem2 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL3_OPTIONS: Serial3 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL4_OPTIONS: Serial4 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL5_OPTIONS: Serial5 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL6_OPTIONS: Serial6 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASS1: Serial passthru first port¶
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASS2: Serial passthru second port¶
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASSTIMO: Serial passthru timeout¶
This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.
Range |
Units |
|---|---|
0 to 120 |
seconds |
SERIAL7_PROTOCOL: Serial7 protocol selection¶
Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL7_BAUD: Serial 7 Baud Rate¶
The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL7_OPTIONS: Serial7 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL8_PROTOCOL: Serial8 protocol selection¶
Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL8_BAUD: Serial 8 Baud Rate¶
The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL8_OPTIONS: Serial8 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL9_PROTOCOL: Serial9 protocol selection¶
Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL9_BAUD: Serial 9 Baud Rate¶
The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL9_OPTIONS: Serial9 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO Parameters¶
SERVO_RATE: Servo default output rate¶
Default output rate in Hz for all PWM outputs.
Range |
Units |
|---|---|
25 to 400 |
hertz |
SERVO_DSHOT_RATE: Servo DShot output rate¶
DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_DSHOT_ESC: Servo DShot ESC type¶
DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_GPIO_MASK: Servo GPIO mask¶
Bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_RC_FS_MSK: Servo RC Failsafe Mask¶
Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_32_ENABLE: Enable outputs 17 to 31¶
This allows for up to 32 outputs, enabling parameters for outputs above 16
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO10_ Parameters¶
SERVO10_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO10_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO10_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO10_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO10_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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SERVO11_ Parameters¶
SERVO11_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO11_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO11_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO11_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO11_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO12_ Parameters¶
SERVO12_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO12_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO12_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO12_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO12_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO13_ Parameters¶
SERVO13_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO13_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO13_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO13_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO13_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO14_ Parameters¶
SERVO14_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO14_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO14_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO14_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO14_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO15_ Parameters¶
SERVO15_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO15_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO15_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO15_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO15_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO16_ Parameters¶
SERVO16_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO16_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO16_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO16_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO16_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO17_ Parameters¶
SERVO17_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO17_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO17_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO17_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO17_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO18_ Parameters¶
SERVO18_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO18_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO18_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO18_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO18_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO19_ Parameters¶
SERVO19_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO19_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO19_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO19_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO19_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO1_ Parameters¶
SERVO1_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO1_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO1_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO1_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO1_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO20_ Parameters¶
SERVO20_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO20_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO20_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO20_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO20_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO21_ Parameters¶
SERVO21_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO21_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO21_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO21_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO21_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO22_ Parameters¶
SERVO22_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO22_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO22_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO22_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO22_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO23_ Parameters¶
SERVO23_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO23_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO23_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO23_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO23_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO24_ Parameters¶
SERVO24_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO24_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO24_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO24_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO24_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO25_ Parameters¶
SERVO25_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO25_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO25_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO25_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO25_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO26_ Parameters¶
SERVO26_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO26_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO26_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO26_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO26_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO27_ Parameters¶
SERVO27_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO27_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO27_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO27_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO27_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO28_ Parameters¶
SERVO28_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO28_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO28_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO28_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO28_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO29_ Parameters¶
SERVO29_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO29_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO29_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO29_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO29_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO2_ Parameters¶
SERVO2_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO2_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO2_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO2_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO2_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO30_ Parameters¶
SERVO30_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO30_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO30_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO30_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO30_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO31_ Parameters¶
SERVO31_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO31_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO31_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO31_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO31_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO32_ Parameters¶
SERVO32_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO32_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO32_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO32_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO32_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO3_ Parameters¶
SERVO3_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO3_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO3_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO3_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO3_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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SERVO4_ Parameters¶
SERVO4_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO4_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO4_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO4_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO4_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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SERVO5_ Parameters¶
SERVO5_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO5_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO5_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO5_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO5_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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SERVO6_ Parameters¶
SERVO6_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO6_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO6_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO6_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO6_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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SERVO7_ Parameters¶
SERVO7_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO7_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO7_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO7_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO7_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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SERVO8_ Parameters¶
SERVO8_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO8_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO8_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO8_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO8_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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|
SERVO9_ Parameters¶
SERVO9_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO9_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO9_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
SERVO9_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO9_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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SERVO_BLH_ Parameters¶
SERVO_BLH_MASK: BLHeli Channel Bitmask¶
Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors¶
If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO_BLH_TEST: BLHeli internal interface test¶
Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_TMOUT: BLHeli protocol timeout¶
This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout
Range |
Units |
|---|---|
0 to 300 |
seconds |
SERVO_BLH_TRATE: BLHeli telemetry rate¶
This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests
Range |
Units |
|---|---|
0 to 500 |
hertz |
SERVO_BLH_DEBUG: BLHeli debug level¶
When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERVO_BLH_OTYPE: BLHeli output type override¶
When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_PORT: Control port¶
This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_POLES: BLHeli Motor Poles¶
This allows calculation of true RPM from ESC's eRPM. The default is 14.
Range |
|---|
1 to 127 |
SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels¶
Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction. Do not use for channels selected with SERVO_BLH_RVMASK.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels¶
Mask of channels which support bi-directional dshot telemetry. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels¶
Mask of channels which are reversed. This is used to configure ESCs to reverse motor direction for unidirectional rotation. Do not use for channels selected with SERVO_BLH_3DMASK.
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_FTW_ Parameters¶
SERVO_FTW_MASK: Servo channel output bitmask¶
Servo channel mask specifying FETtec ESC output.
Bitmask |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask¶
Servo channel mask to reverse rotation of FETtec ESC outputs.
Bitmask |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_FTW_POLES: Nr. electrical poles¶
Number of motor electrical poles
Range |
|---|
2 to 50 |
SERVO_ROB_ Parameters¶
SERVO_ROB_POSMIN: Robotis servo position min¶
Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095
Range |
|---|
0 to 4095 |
SERVO_ROB_POSMAX: Robotis servo position max¶
Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095
Range |
|---|
0 to 4095 |
SERVO_SBUS_ Parameters¶
SERVO_SBUS_RATE: SBUS default output rate¶
This sets the SBUS output frame rate in Hz.
Range |
Units |
|---|---|
25 to 250 |
hertz |
SERVO_VOLZ_ Parameters¶
SERVO_VOLZ_MASK: Channel Bitmask¶
Enable of volz servo protocol to specific channels
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_VOLZ_RANGE: Range of travel¶
Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.
Units |
|---|
degrees |
SR0_ Parameters¶
SR0_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3, AIRSPEED and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR0_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR0_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR0_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR0_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR0_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR0_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR0_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR0_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_ Parameters¶
SR1_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3, AIRSPEED and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR1_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_ Parameters¶
SR2_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3, AIRSPEED and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR2_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_ Parameters¶
SR3_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3, AIRSPEED and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR3_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_ Parameters¶
SR4_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3, AIRSPEED and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR4_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_ Parameters¶
SR5_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3, AIRSPEED and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR5_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_ Parameters¶
SR6_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3, AIRSPEED and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
SR6_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 10 |
hertz |
STAT Parameters¶
STAT_BOOTCNT: Boot Count¶
Number of times board has been booted
ReadOnly |
|---|
True |
STAT_FLTTIME: Total FlightTime¶
Total FlightTime (seconds)
ReadOnly |
Units |
|---|---|
True |
seconds |
STAT_RUNTIME: Total RunTime¶
Total time autopilot has run
ReadOnly |
Units |
|---|---|
True |
seconds |
STAT_RESET: Statistics Reset Time¶
Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)
ReadOnly |
Units |
|---|---|
True |
seconds |
TEMP Parameters¶
TEMP_LOG: Logging¶
Enables temperature sensor logging
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
TEMP1_ Parameters¶
TEMP1_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP1_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP1_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP1_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP1_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP1_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP1_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP1_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP1_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP1_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP1_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP1_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP2_ Parameters¶
TEMP2_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP2_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP2_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP2_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP2_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP2_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP2_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP2_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP2_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP2_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP2_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP2_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP3_ Parameters¶
TEMP3_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP3_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP3_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP3_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP3_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP3_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP3_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP3_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP3_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP3_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP3_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP3_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP4_ Parameters¶
TEMP4_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP4_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP4_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP4_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP4_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP4_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP4_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP4_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP4_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP4_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP4_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP4_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP5_ Parameters¶
TEMP5_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP5_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP5_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP5_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP5_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP5_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP5_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP5_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP5_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP5_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP5_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP5_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP6_ Parameters¶
TEMP6_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP6_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP6_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP6_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP6_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP6_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP6_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP6_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP6_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP6_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP6_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP6_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP7_ Parameters¶
TEMP7_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP7_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP7_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP7_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP7_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP7_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP7_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP7_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP7_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP7_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP7_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP7_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP8_ Parameters¶
TEMP8_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP8_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP8_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP8_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP8_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP8_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP8_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP8_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP8_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP8_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP8_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP8_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP9_ Parameters¶
TEMP9_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP9_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP9_ADDR: Temperature sensor address¶
Temperature sensor address, typically used for I2C address
Range |
|---|
0 to 127 |
TEMP9_SRC: Sensor Source¶
Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP9_SRC_ID: Sensor Source Identification¶
Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.
TEMP9_PIN: Temperature sensor analog voltage sensing pin¶
Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP9_A0: Temperature sensor analog 0th polynomial coefficient¶
a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP9_A1: Temperature sensor analog 1st polynomial coefficient¶
a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP9_A2: Temperature sensor analog 2nd polynomial coefficient¶
a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP9_A3: Temperature sensor analog 3rd polynomial coefficient¶
a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP9_A4: Temperature sensor analog 4th polynomial coefficient¶
a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
TEMP9_A5: Temperature sensor analog 5th polynomial coefficient¶
a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5
VISO Parameters¶
VISO_TYPE: Visual odometry camera connection type¶
Visual odometry camera connection type
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
VISO_POS_X: Visual odometry camera X position offset¶
X position of the camera in body frame. Positive X is forward of the origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
VISO_POS_Y: Visual odometry camera Y position offset¶
Y position of the camera in body frame. Positive Y is to the right of the origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
VISO_POS_Z: Visual odometry camera Z position offset¶
Z position of the camera in body frame. Positive Z is down from the origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
VISO_ORIENT: Visual odometery camera orientation¶
Visual odometery camera orientation
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
VISO_SCALE: Visual odometry scaling factor¶
Visual odometry scaling factor applied to position estimates from sensor
VISO_DELAY_MS: Visual odometry sensor delay¶
Visual odometry sensor delay relative to inertial measurements
Range |
Units |
|---|---|
0 to 250 |
milliseconds |
VISO_VEL_M_NSE: Visual odometry velocity measurement noise¶
Visual odometry velocity measurement noise in m/s
Range |
Units |
|---|---|
0.05 to 5.0 |
meters per second |
VISO_POS_M_NSE: Visual odometry position measurement noise¶
Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)
Range |
Units |
|---|---|
0.1 to 10.0 |
meters |
VISO_YAW_M_NSE: Visual odometry yaw measurement noise¶
Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)
Range |
Units |
|---|---|
0.05 to 1.0 |
radians |
VISO_QUAL_MIN: Visual odometry minimum quality¶
Visual odometry will only be sent to EKF if over this value. -1 to always send (even bad values), 0 to send if good or unknown
Range |
Units |
|---|---|
-1 to 100 |
percent |
VTX_ Parameters¶
VTX_ENABLE: Is the Video Transmitter enabled or not¶
Toggles the Video Transmitter on and off
Values |
||||||
|---|---|---|---|---|---|---|
|
VTX_POWER: Video Transmitter Power Level¶
Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level
Range |
|---|
1 to 1000 |
VTX_CHANNEL: Video Transmitter Channel¶
Video Transmitter Channel
Range |
|---|
0 to 7 |
VTX_BAND: Video Transmitter Band¶
Video Transmitter Band
Values |
||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
VTX_FREQ: Video Transmitter Frequency¶
Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL
Range |
ReadOnly |
|---|---|
1000 to 6000 |
True |
VTX_OPTIONS: Video Transmitter Options¶
Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.
Bitmask |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
VTX_MAX_POWER: Video Transmitter Max Power Level¶
Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.
Range |
|---|
25 to 1000 |