Parameter Name Changes¶
Parameters get renamed, rescaled, or reorganized fairly often, mostly to standardize units (converting centidegrees/cm values to degrees/meters) and to give related parameters a consistent naming scheme. This page lists old and new parameter names across recent ArduPilot releases so that users upgrading can find their previous settings.
Note
Automatic parameter conversion runs on first boot with the newer firmware, so old values normally carry over to the new parameter names on the vehicle itself. This page is mainly useful for updating scripts, ground station profiles, log analysis tools, finding parameters in an old firmware revisions on GCSs, and other external references that still use the old names.
ArduPilot 4.6 → 4.7¶
These renames shipped in the 4.7.0 release
GCS/MAVLink streamrate and system ID parameters¶
Old Name |
New Name |
|---|---|
SR0_RAW_SENS … SR9_RAW_SENS |
MAV1_RAW_SENS … MAV10_RAW_SENS |
SR0_EXT_STAT … SR9_EXT_STAT |
MAV1_EXT_STAT … MAV10_EXT_STAT |
SR0_RC_CHAN … SR9_RC_CHAN |
MAV1_RC_CHAN … MAV10_RC_CHAN |
SR0_RAW_CTRL … SR9_RAW_CTRL |
MAV1_RAW_CTRL … MAV10_RAW_CTRL |
SR0_POSITION … SR9_POSITION |
MAV1_POSITION … MAV10_POSITION |
SR0_EXTRA1 … SR9_EXTRA1 |
MAV1_EXTRA1 … MAV10_EXTRA1 |
SR0_EXTRA2 … SR9_EXTRA2 |
MAV1_EXTRA2 … MAV10_EXTRA2 |
SR0_EXTRA3 … SR9_EXTRA3 |
MAV1_EXTRA3 … MAV10_EXTRA3 |
SR0_PARAMS … SR9_PARAMS |
MAV1_PARAMS … MAV10_PARAMS |
SR0_ADSB … SR9_ADSB |
MAV1_ADSB … MAV10_ADSB |
SYSID_MYGCS |
MAV_GCS_SYSID |
TELEM_DELAY |
MAV_TELEM_DELAY |
SYSID_ENFORCE |
Replaced by MAV_OPTIONS bit 0 (“Accept MAVLink only from SYSID_GCS”) |
SYSID_THISMAV was not renamed.
Serial port option bits moved to MAVn_OPTIONS¶
Old Name |
New Name |
|---|---|
SERIALn_OPTIONS bit 10 (don’t forward MAVLink) |
MAVn_OPTIONS bit 1 |
SERIALn_OPTIONS bit 12 (ignore stream rate override) |
MAVn_OPTIONS bit 2 |
Attitude control¶
Old Name |
New Name |
|---|---|
ATC_ACCEL_R_MAX |
ATC_ACC_R_MAX |
ATC_ACCEL_P_MAX |
ATC_ACC_P_MAX |
ATC_ACCEL_Y_MAX |
ATC_ACC_Y_MAX |
ATC_SLEW_YAW (centidegrees/s) |
ATC_RATE_WPY_MAX (degrees/s) |
Q_A_ACCEL_R_MAX |
Q_A_ACC_R_MAX |
Q_A_ACCEL_P_MAX |
Q_A_ACC_P_MAX |
Q_A_ACCEL_Y_MAX |
Q_A_ACC_Y_MAX |
Q_A_SLEW_YAW (centidegrees/s) |
Q_A_RATE_WPY_MAX (degrees/s) |
ANGLE_MAX (centidegrees) |
ATC_ANGLE_MAX (Copter/Sub) or Q_A_ANGLE_MAX (QuadPlane), in degrees |
Position controller (NEU → NED axis naming)¶
AC_PosControl’s vertical (“Z”/”D”) and horizontal (“XY”/”NE”) axis groups
were renamed to use consistent NED-style naming. This affects Copter/Sub
(prefix PSC_) and QuadPlane (prefix Q_P_ instead of PSC_).
Old Name |
New Name |
|---|---|
PSC_POSZ_P |
PSC_D_POS_P |
PSC_VELZ_P / _I / _IMAX / _D / _FF / _FLTE / _FLTD |
PSC_D_VEL_P / _I / _IMAX / _D / _FF / _FLTE / _FLTD |
PSC_ACCZ_P / _I / _IMAX / _D / _FF / _FLTT / _FLTE / _FLTD / _SMAX / _PDMX / _D_FF / _NTF / _NEF |
PSC_D_ACC_P / _I / _IMAX / _D / _FF / _FLTT / _FLTE / _FLTD / _SMAX / _PDMX / _D_FF / _NTF / _NEF |
PSC_POSXY_P |
PSC_NE_POS_P |
PSC_VELXY_P / _I / _D / _IMAX / _FLTE / _FLTD / _FF |
PSC_NE_VEL_P / _I / _D / _IMAX / _FLTE / _FLTD / _FF |
PSC_JERK_XY |
PSC_JERK_NE |
PSC_JERK_Z |
PSC_JERK_D |
Note
For QuadPlane, replace the PSC_ prefix above with Q_P_
(e.g. Q_P_NE_POS_P).
Avoidance¶
Old Name |
New Name |
|---|---|
AVOID_ANGLE_MAX (centidegrees) |
AVOID_ANG_MAX (degrees) |
Circle mode¶
Old Name |
New Name |
|---|---|
CIRCLE_RADIUS (cm) |
CIRCLE_RADIUS_M (m) |
Copter Land mode¶
Old Name |
New Name |
|---|---|
LAND_SPEED |
LAND_SPD_MS |
LAND_SPEED_HIGH |
LAND_SPD_HIGH_MS |
LAND_ALT_LOW |
LAND_ALT_LOW_M |
Copter RTL mode¶
Old Name |
New Name |
|---|---|
RTL_ALT |
RTL_ALT_M |
RTL_SPEED |
RTL_SPEED_MS |
RTL_ALT_FINAL |
RTL_ALT_FINAL_M |
RTL_CLIMB_MIN |
RTL_CLIMB_MIN_M |
Copter PosHold mode¶
Old Name |
New Name |
|---|---|
PHLD_BRAKE_RATE |
PHLD_BRK_RATE |
PHLD_BRAKE_ANGLE (centidegrees) |
PHLD_BRK_ANGLE (degrees) |
Pilot input parameters¶
Old Name |
New Name |
|---|---|
PILOT_TKOFF_ALT |
PILOT_TKO_ALT_M |
PILOT_SPEED_UP |
PILOT_SPD_UP |
PILOT_SPEED_DN |
PILOT_SPD_DN |
PILOT_ACCEL_Z |
PILOT_ACC_Z |
EKF3¶
Old Name |
New Name |
|---|---|
EK3_MAX_FLOW |
EK3_FLOW_MAX |
Arming¶
Old Name |
New Name |
|---|---|
ARMING_CHECK |
ARMING_SKIPCHK |
Warning
This is not a pure rename. ARMING_CHECK was a bitmask of
checks to run, while ARMING_SKIPCHK is a bitmask of checks to
skip. The bit meanings are inverted, so a converted value should be
double checked rather than assumed correct.
ArduPilot 4.7 → current master (pre-4.8)¶
Warning
Master is under active, unreleased development for the upcoming 4.8 release. The renames below have merged as of the last time this page was updated, but more parameter renames are likely to land before 4.8 ships. Treat this section as a work-in-progress snapshot, not a final list — check the source or the eventual 4.8.0 release notes before relying on it for a production upgrade.
TradHeli swashplate phase angle¶
Phase adjustment support was added to all swashplate types, dropping the “H3” naming from the phase angle parameter.
Old Name |
New Name |
|---|---|
H_SW_H3_PHANG |
H_SW_PHANG |
H_SW2_H3_PHANG |
H_SW2_PHANG |
SITL board mounting trim¶
SITL’s accelerometer-only trim parameter was replaced with a general rigid board mounting offset applied to accelerometers, gyros, and compasses.
Old Name |
New Name |
|---|---|
SIM_ACC_TRIM |
SIM_BRD_TRIM |