Future Wiki Changes (in Master branch now)


Auxiliary Functions page:


RCx_OPTION value Feature Description Copter Plane Rover
150 CRUISE Mode   X  
151 TURTLE Mode X    
152 SIMPLE mode heading reset X    
153 ARM/DISARM (4.2 and higher) X X X
154 ARM/DISARM with AIRMODE on X X  
155 TRIM RC/SERVO Save   X X
156 TORQEEDO Error Clear     X
157 Force FBWA Long FS Action   X  
  • change 41 description to ARM/DISARM(4.1 and before)

Add to descriptions:

Option Description
SIMPLE mode heading reset

Resets original heading reference to current heading for SIMPLE Mode.

ARM/DISARM (4.2 and higher)

Arms the vehicle if the switch goes high (subject to arming checks). Disarms the vehicle unconditionally if brought low.


Arms the vehicle if the switch goes high (subject to arming checks) with AIRMODE active. Disarms the vehicle unconditionally if brought low.


Saves current RC input trim and SERVO output trim for pitch. roll, and yaw in Plane and for Steering in Rover.

Torqeedo Error Clear

Clears error condition in Torqeedo motor controller.

Force FBWA as Long FS Action

Forces mode change to FBWA in Long FS, overriding the FS_LONG_ACTN parameter value for emergency landings beyond RC control range to prevent normal failasfe action from occurring.

RPM Measurement page

  • under types list at top: add ESC Telemetry
  • add section:

ESC Telemetry - Average Motor RPM

The RPM library can also be used to setup an ‘RPM sensor’ that computes and logs the average RPM for selected motors on the vehicle that are controlled by BLHeli_32 or BLHeli_S capable ESCs. First the ESC telemetry will need to be setup. See BLHeli Telemetry for details on how to do this. Once complete set RPMx_TYPE to 5 and write the parameters to ArduPilot. Then refresh/fetch the parameters. You will find a number of additional parameters are now available for that instance. Find and set RPMx_ESC_MASK to add which ESC channels you want to be included in the average. For example for the second RPM instance:

RPM2_ESC_MASK is a bitmask, with each bit corresponding to a channel. If you wanted the average RPM for motors 1 to 4 you would set RPM2_ESC_MASK = 1 + 2 + 4 + 8 = 15.

Compass Calibration page

  • add note at beginning of Onboard Calibration using Stick Gestures (no GCS) section:


This feature ahs been removed in firmware versions after 4.1.

GPIOs page

  • add the following note at the top:


in firmware versions later than 4.1, the method for setting a PWM/SERVO/MOTOR outputs to be a GPIO function is changed. Instead of BRD_PWM_COUNT being used, the individual SERVOx_FUNCTION parameter is merely set to “-1”. If set to “0”, it remains a PWM output, unassigned to a function, and outputs that output’s trim value when board safety is not active.

IMU Temperature Calibration page

change all BRD_IMU_TEMPTARG param names to BRD_HEAT_TARG

GPS for Yaw (aka Moving Baseline) page

under Hardware Setup change last bullet to read:

  • Serial GPS modules must be connected to ArduPilot via their UART1 connectors, DroneCAN modules via CAN, or interconnected per their manufacturer instructions.

under Configuration change GPS type param bullets to read:

  • GPS_TYPE = 17 (“UBlox moving baseline base”) or 22 (DroneCAN-MovingBaseline-Base), as appropriate.
  • GPS_TYPE2 = 18 (“UBlox moving baseline rover”) or 23 (DroneCAN-MovingBaseline-Rover), as appropriate.

Power Monitor/Module Configuration in Mission Planner page

Add to power monitors table:

22 LTC2946
23 Torqeedo

FrSky Telemetry page

add to end of Configuration Section:

Set FRSKY_OPTIONS bit 0 to “1” to enable sending alternating airspeed and groundspeed data to the display script. The Yaapu FrSky Telemetry Script for OpenTX can use this but it may cause other display apps/scripts to alternate the speed value readout.


QuadPlane Parameter setup page

  • add:

bit 18, if set,will allow arming only if in a VTOL mode. Primarily used for tailsitters to prevent accidental immediate tip-over if armed in a fixed wing mode with assistance active.

  • change bit 15 to:

bit 15, if set, will allow pilot to control descent during VTOL AUTO-LAND phases, similar to throttle stick action during QHOVER or QLOITER. However, this will not become active until the throttle stick is raised above 70% during the descent at least once.

Tailsitter Planes page:

  • at top of page:

Tailsitters and their parameters are enabled by setting Q_TAILSIT_ENABLE to either “1” ,for most tailsitters, or “2” for the special case of Copter Motor Only Tailsitters (those without control surfaces like elevons or ailerons/elevators).

  • in Vectored and non-Vectored change:
” CopterMotor tailsitters without them (ie. only have a lifting wing with no control surfaces) must use QASSIST (discussed below) to provide control while in fixed wing flight modes.” to:” CopterMotor tailsitters without them (ie. only have a lifting wing with no control surfaces) must use always use their motors to provide control while in fixed wing flight modes. Setting Q_TAILSIT_ENABLE = 2 automatically does this.”
  • under Tailsitter Configuration change:
“The key to make a QuadPlane a tailsitter is to either set Q_FRAME_CLASS =10 or Q_TAILSIT_MOTMX non-zero. That tells the QuadPlane code to use the tailsitter VTOL backend.” to:”The key to make a QuadPlane a tailsitter is to either set Q_TAILSIT_ENABLE to “1” or “2” to tell the QuadPlane code to use the tailsitter VTOL backend.”

Q_FRAME_CLASS determines the number and layout of VTOL motors and Q_TAILSIT_MOTMX determines which motors are active when in fixed wing modes, except in the special case of the Copter Motor Only Tailsitter which keeps running the motors like a Copter mode even when flying in a fixed wing mode for control surface-less Copter tailsitters (ie always running the motors to provide attitude control, even at low throttle).

  • Add table at end of the Tailsitter Configuration section:
Tailsitter Style ENABLE CLASS TYPE MOTORMASK Motor Output Functions
3D Single Motor 1 10(Single/Dual) NA 0 Throttle
Twin Motor and Twin Motor Vectored 1 10(Single/Dual) NA 0 Left Throttle, Right Throttle
Copter Tailsitters with fixed wing control surfaces 1 to match number of VTOL motors to match motor mixing active motors in fixed wing modes Motor 1- Motor x
Copter Tailsitters with no fixed wing control surfaces 2 to match number of VTOL motors to match motor mixing active motors in fixed wing modes Motor 1- Motor x

The ENABLE column refers to the Q_TAILSIT_ENABLE parameter, while CLASS,TYPE, and MOTORMASK refer to Q_FRAME_CLASS, Q_FRAME_TYPE, and Q_TAILSIT_MOTMX, respectively.

  • under Copter Tailsitters change the note to read:


It is possible to have a CopterMotor Tailsitter using no fixed wing control surfaces, ie basically a quadcopter with a wing. For that configuration, use Q_TAILSIT_ENABLE = 2. Q_TAILSIT_MOTMX is ignored in that case.

  • Remove Tailsitter Input Mask section entirely

Flight Options page:

  • add to table
7 Enable default airspeed EKF fusion for takeoff (Advanced users only)
8 Remove TRIM_PITCH_CD offset on the GCS horizon to show pitch relative to AHRS trim (ie the attitude at which the flight controller was calibrated,unless manually changed)
9 Remove TRIM_PITCH_CD on the OSD horizon to show pitch relative to AHRS trim (ie the attitude at which the flight controller was calibrated,unless manually changed)
10 Adjust mid-throttle to be TRIM_THROTTLE in non-auto throttle modes except MANUAL,instead of midway between MAX and MIN stick values (note that the RCx_TRIM value for the throttle channel (x) MUST BE set to center stick value)


Normally, TRIM_PITCH_CD is subtracted from the AHRS pitch so that the artificial horizon shows pitch as if the flight controller was calibrated with aircraft level position set at TRIM_PITCH_CD instead of flat. This normally results in the artificial horizon indicating 0 pitch when in cruise at desired cruise speed. TRIM_PITCH_CD is the pitch trim that would be required in stabilized modes to maintain altitude at nominal cruise airspeed and throttle, and for most planes is 1-3 degrees positive, depending on the aircraft design (see Tuning Cruise Configuration).

Tuning Cruise Configuration page:

  • add in appropriate place

Using TRIM_PITCH_CD to adjust cruise attitude will also add an offset to the artificial horizon on a GCS or an OSD, but this can be disabled using the FLIGHT_OPTIONS bitmask.

Tailsitter Planes page:

  • add under Transitions section:

Depending on the entry speed and time required to transition, the vehicle may gain altitude, sometimes significantly, since the throttle is set to the current Q_M_THRST_HOVER hover thrust value throughout the transition to VTOL. This can be overridden with a lower value by setting Q_TAILSIT_THR_VT. With experimentation, changing the rates, angle, and this parameter for fixed wing to VTOL transitions, it is possible to obtain almost level altitude transitions. Especially with copter style tailsitters with no control surfaces using Q_TAILSIT_ENABLE = 2, keeping attitude control active even at low or zero throttle values.

soaring-4_1 page:

Add content from Speed to fly

Tilt Rotor Planes page:

Under Setting Up a Tilt Rotor replace first sentence with:

The first thing you need to do is enable QuadPlane support by setting Q_ENABLE to 1 and Tilt Rotor support by setting Q_TILT_ENABLE = “1”, and then choose the right quadplane frame class and frame type.

Plane Failsafe Function page:

add to Battery Failsafes section:

Battery Failsafe Actions

The following is a description of the actions that can be taken for battery failsafes:

Value Action Description
0 None Do nothing except warn
1 RTL Switch to RTL mode
2 Land Switch to AUTO mode and execute nearest DO_LAND sequence, if in mission
3 Terminate Disarm
4 QLAND If QuadPlane, switch to QLAND Mode, otherwise do nothing
5 Parachute Trigger Parachute (Critical action only)
6 LOITER_TO_QLAND If QuadPlane, switch to LOITER_TO_QLAND mode, otherwise do nothing

QuadPlane Flight modes page:

add to mode TOC tree:

:LOITER_TO_QLAND mode page