Complete Parameter List

Full Parameter List of Copter stable V4.0.8

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.

ArduCopter Parameters

SYSID_SW_MREV: Eeprom format version number

Note: This parameter is for advanced users

This value is incremented when changes are made to the eeprom format

ReadOnly
True

SYSID_THISMAV: MAVLink system ID of this vehicle

Note: This parameter is for advanced users

Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network

Range
1 - 255

SYSID_MYGCS: My ground station number

Note: This parameter is for advanced users

Allows restricting radio overrides to only come from my ground station

Range
1 - 255

PILOT_THR_FILT: Throttle filter cutoff

Note: This parameter is for advanced users

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

Increment	Range	Units
.5	0 - 10	hertz

PILOT_TKOFF_ALT: Pilot takeoff altitude

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

Increment	Range	Units
10	0.0 - 1000.0	centimeters

PILOT_THR_BHV: Throttle stick behavior

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

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

TELEM_DELAY: Telemetry startup delay

Note: This parameter is for advanced users

The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up

Increment	Range	Units
1	0 - 30	seconds

GCS_PID_MASK: GCS PID tuning mask

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Bitmask	Values
Bit Meaning 0 Roll 1 Pitch 2 Yaw 3 AccelZ	Value Meaning 0 None 1 Roll 2 Pitch 4 Yaw 8 AccelZ

RTL_ALT: RTL Altitude

The minimum alt above home the vehicle will climb to before returning. If the vehicle is flying higher than this value it will return at its current altitude.

Increment	Range	Units
1	200 - 8000	centimeters

RTL_CONE_SLOPE: RTL cone slope

Defines a cone above home which determines maximum climb

Increment	Range	Values
.1	0.5 - 10.0	Value Meaning 0 Disabled 1 Shallow 3 Steep

RTL_SPEED: RTL speed

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally while flying home. If this is set to zero, WPNAV_SPEED will be used instead.

Increment	Range	Units
50	0 - 2000	centimeters per second

RTL_ALT_FINAL: RTL Final Altitude

This is the altitude the vehicle will move to as the final stage of Returning to Launch or after completing a mission. Set to zero to land.

Increment	Range	Units
1	-1 - 1000	centimeters

RTL_CLIMB_MIN: RTL minimum climb

The vehicle will climb this many cm during the initial climb portion of the RTL

Increment	Range	Units
10	0 - 3000	centimeters

RTL_LOIT_TIME: RTL loiter time

Time (in milliseconds) to loiter above home before beginning final descent

Increment	Range	Units
1000	0 - 60000	milliseconds

RNGFND_GAIN: Rangefinder gain

Used to adjust the speed with which the target altitude is changed when objects are sensed below the copter

Increment	Range
0.01	0.01 - 2.0

FS_GCS_ENABLE: Ground Station Failsafe Enable

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

Values
Value Meaning 0 Disabled/NoAction 1 RTL 2 RTL or Continue with Mission in Auto Mode (Deprecated in 4.0+-see FS_OPTIONS) 3 SmartRTL or RTL 4 SmartRTL or Land 5 Land (4.0+ Only)

GPS_HDOP_GOOD: GPS Hdop Good

Note: This parameter is for advanced users

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

Range
100 - 900

SUPER_SIMPLE: Super Simple Mode

Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode

Values

Value Meaning 0 Disabled 1 Mode1 2 Mode2 3 Mode1+2 4 Mode3 5 Mode1+3 6 Mode2+3 7 Mode1+2+3 8 Mode4 9 Mode1+4 10 Mode2+4 11 Mode1+2+4 12 Mode3+4 13 Mode1+3+4 14 Mode2+3+4 15 Mode1+2+3+4 16 Mode5 17 Mode1+5 18 Mode2+5 19 Mode1+2+5 20 Mode3+5 21 Mode1+3+5 22 Mode2+3+5 23 Mode1+2+3+5 24 Mode4+5 25 Mode1+4+5 26 Mode2+4+5 27 Mode1+2+4+5 28 Mode3+4+5 29 Mode1+3+4+5 30 Mode2+3+4+5 31 Mode1+2+3+4+5 32 Mode6 33 Mode1+6 34 Mode2+6 35 Mode1+2+6 36 Mode3+6 37 Mode1+3+6 38 Mode2+3+6 39 Mode1+2+3+6 40 Mode4+6 41 Mode1+4+6 42 Mode2+4+6 43 Mode1+2+4+6 44 Mode3+4+6 45 Mode1+3+4+6 46 Mode2+3+4+6 47 Mode1+2+3+4+6 48 Mode5+6 49 Mode1+5+6 50 Mode2+5+6 51 Mode1+2+5+6 52 Mode3+5+6 53 Mode1+3+5+6 54 Mode2+3+5+6 55 Mode1+2+3+5+6 56 Mode4+5+6 57 Mode1+4+5+6 58 Mode2+4+5+6 59 Mode1+2+4+5+6 60 Mode3+4+5+6 61 Mode1+3+4+5+6 62 Mode2+3+4+5+6 63 Mode1+2+3+4+5+6

WP_YAW_BEHAVIOR: Yaw behaviour during missions

Determines how the autopilot controls the yaw during missions and RTL

Values
Value Meaning 0 Never change yaw 1 Face next waypoint 2 Face next waypoint except RTL 3 Face along GPS course

LAND_SPEED: Land speed

The descent speed for the final stage of landing in cm/s

Increment	Range	Units
10	30 - 200	centimeters per second

LAND_SPEED_HIGH: Land speed high

The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used

Increment	Range	Units
10	0 - 500	centimeters per second

PILOT_SPEED_UP: Pilot maximum vertical speed ascending

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

Increment	Range	Units
10	50 - 500	centimeters per second

PILOT_ACCEL_Z: Pilot vertical acceleration

The vertical acceleration used when pilot is controlling the altitude

Increment	Range	Units
10	50 - 500	centimeters per square second

FS_THR_ENABLE: Throttle Failsafe Enable

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

Values
Value Meaning 0 Disabled 1 Enabled always RTL 2 Enabled Continue with Mission in Auto Mode (Deprecated in 4.0+) 3 Enabled always Land 4 Enabled always SmartRTL or RTL 5 Enabled always SmartRTL or Land

FS_THR_VALUE: Throttle Failsafe Value

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

Increment	Range	Units
1	910 - 1100	PWM in microseconds

THR_DZ: Throttle deadzone

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

Increment	Range	Units
1	0 - 300	PWM in microseconds

FLTMODE1: Flight Mode 1

Flight mode when Channel 5 pwm is <= 1230

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate

FLTMODE2: Flight Mode 2

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

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate

FLTMODE3: Flight Mode 3

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

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate

FLTMODE4: Flight Mode 4

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

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate

FLTMODE5: Flight Mode 5

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

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate

FLTMODE6: Flight Mode 6

Flight mode when Channel 5 pwm is >=1750

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate

FLTMODE_CH: Flightmode channel

Note: This parameter is for advanced users

RC Channel to use for flight mode control

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

SIMPLE: Simple mode bitmask

Note: This parameter is for advanced users

Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)

LOG_BITMASK: Log bitmask

4 byte bitmap of log types to enable

Bitmask	Values
Bit Meaning 0 ATTITUDE_FAST 1 ATTITUDE_MED 2 GPS 3 PM 4 CTUN 5 NTUN 6 RCIN 7 IMU 8 CMD 9 CURRENT 10 RCOUT 11 OPTFLOW 12 PID 13 COMPASS 14 INAV 15 CAMERA 17 MOTBATT 18 IMU_FAST 19 IMU_RAW	Value Meaning 830 Default 894 Default+RCIN 958 Default+IMU 1854 Default+Motors -6146 NearlyAll-AC315 45054 NearlyAll 131071 All+FastATT 262142 All+MotBatt 393214 All+FastIMU 397310 All+FastIMU+PID 655358 All+FullIMU 0 Disabled

ESC_CALIBRATION: ESC Calibration

Note: This parameter is for advanced users

Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.

Values
Value Meaning 0 Normal Start-up 1 Start-up in ESC Calibration mode if throttle high 2 Start-up in ESC Calibration mode regardless of throttle 3 Start-up and automatically calibrate ESCs 9 Disabled

TUNE: Channel 6 Tuning

Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob

Values

Value Meaning 0 None 1 Stab Roll/Pitch kP 4 Rate Roll/Pitch kP 5 Rate Roll/Pitch kI 21 Rate Roll/Pitch kD 3 Stab Yaw kP 6 Rate Yaw kP 26 Rate Yaw kD 56 Rate Yaw Filter 55 Motor Yaw Headroom 14 AltHold kP 7 Throttle Rate kP 34 Throttle Accel kP 35 Throttle Accel kI 36 Throttle Accel kD 12 Loiter Pos kP 22 Velocity XY kP 28 Velocity XY kI 10 WP Speed 25 Acro RollPitch kP 40 Acro Yaw kP 45 RC Feel 13 Heli Ext Gyro 38 Declination 39 Circle Rate 41 RangeFinder Gain 46 Rate Pitch kP 47 Rate Pitch kI 48 Rate Pitch kD 49 Rate Roll kP 50 Rate Roll kI 51 Rate Roll kD 52 Rate Pitch FF 53 Rate Roll FF 54 Rate Yaw FF 57 Winch 58 SysID Magnitude

FRAME_TYPE: Frame Type (+, X, V, etc)

Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.

RebootRequired	Values
True	Value Meaning 0 Plus 1 X 2 V 3 H 4 V-Tail 5 A-Tail 10 Y6B 11 Y6F 12 BetaFlightX 13 DJIX 14 ClockwiseX 15 I 18 BetaFlightXReversed

DISARM_DELAY: Disarm delay

Note: This parameter is for advanced users

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

Range	Units
0 - 127	seconds

ANGLE_MAX: Angle Max

Note: This parameter is for advanced users

Maximum lean angle in all flight modes

Range	Units
1000 - 8000	centidegrees

PHLD_BRAKE_RATE: PosHold braking rate

Note: This parameter is for advanced users

PosHold flight mode's rotation rate during braking in deg/sec

Range	Units
4 - 12	degrees per second

PHLD_BRAKE_ANGLE: PosHold braking angle max

Note: This parameter is for advanced users

PosHold flight mode's max lean angle during braking in centi-degrees

Range	Units
2000 - 4500	centidegrees

LAND_REPOSITION: Land repositioning

Note: This parameter is for advanced users

Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.

Values
Value Meaning 0 No repositioning 1 Repositioning

FS_EKF_ACTION: EKF Failsafe Action

Note: This parameter is for advanced users

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

Values
Value Meaning 1 Land 2 AltHold 3 Land even in Stabilize

FS_EKF_THRESH: EKF failsafe variance threshold

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance

Values
0.6:Strict, 0.8:Default, 1.0:Relaxed

FS_CRASH_CHECK: Crash check enable

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

RC_SPEED: ESC Update Speed

Note: This parameter is for advanced users

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

Increment	Range	Units
1	50 - 490	hertz

ACRO_RP_P: Acro Roll and Pitch P gain

Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode. Higher values mean faster rate of rotation.

Range
1 - 10

ACRO_YAW_P: Acro Yaw P gain

Converts pilot yaw input into a desired rate of rotation. Higher values mean faster rate of rotation.

Range
1 - 10

ACRO_BAL_ROLL: Acro Balance Roll

Note: This parameter is for advanced users

rate at which roll angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the roll axis. A higher value causes faster decay of desired to actual attitude.

Increment	Range
0.1	0 - 3

ACRO_BAL_PITCH: Acro Balance Pitch

Note: This parameter is for advanced users

rate at which pitch angle returns to level in acro and sport mode. A higher value causes the vehicle to return to level faster. For helicopter sets the decay rate of the virtual flybar in the pitch axis. A higher value causes faster decay of desired to actual attitude.

Increment	Range
0.1	0 - 3

ACRO_TRAINER: Acro Trainer

Note: This parameter is for advanced users

Type of trainer used in acro mode

Values
Value Meaning 0 Disabled 1 Leveling 2 Leveling and Limited

ACRO_RP_EXPO: Acro Roll/Pitch Expo

Note: This parameter is for advanced users

Acro roll/pitch Expo to allow faster rotation when stick at edges

Range	Values
-0.5 - 1.0	Value Meaning 0 Disabled 0.1 Very Low 0.2 Low 0.3 Medium 0.4 High 0.5 Very High

THROW_MOT_START: Start motors before throwing is detected

Used by THROW mode. Controls whether motors will run at the speed set by THR_MIN or will be stopped when armed and waiting for the throw.

Values
Value Meaning 0 Stopped 1 Running

TERRAIN_FOLLOW: Terrain Following use control

This enables terrain following for RTL and LAND flight modes. To use this option TERRAIN_ENABLE must be 1 and the GCS must support sending terrain data to the aircraft. In RTL the RTL_ALT will be considered a height above the terrain. In LAND mode the vehicle will slow to LAND_SPEED 10m above terrain (instead of 10m above home). This parameter does not affect AUTO and Guided which use a per-command flag to determine if the height is above-home, absolute or above-terrain.

Values
Value Meaning 0 Do Not Use in RTL and Land 1 Use in RTL and Land

WP_NAVALT_MIN: Minimum navigation altitude

This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing.

Range
0 - 5

THROW_NEXTMODE: Throw mode's follow up mode

Vehicle will switch to this mode after the throw is successfully completed. Default is to stay in throw mode (18)

Values
Value Meaning 3 Auto 4 Guided 5 LOITER 6 RTL 9 Land 17 Brake 18 Throw

THROW_TYPE: Type of Type

Used by THROW mode. Specifies whether Copter is thrown upward or dropped.

Values
Value Meaning 0 Upward Throw 1 Drop

GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable

Note: This parameter is for advanced users

Ground Effect Compensation Enable/Disable

Values
Value Meaning 0 Disabled 1 Enabled

DEV_OPTIONS: Development options

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 ADSBMavlinkProcessing 1 DevOptionVFR_HUDRelativeAlt

ACRO_Y_EXPO: Acro Yaw Expo

Note: This parameter is for advanced users

Acro yaw expo to allow faster rotation when stick at edges

Range	Values
-0.5 - 1.0	Value Meaning 0 Disabled 0.1 Very Low 0.2 Low 0.3 Medium 0.4 High 0.5 Very High

ACRO_THR_MID: Acro Thr Mid

Note: This parameter is for advanced users

Acro Throttle Mid

Range
0 - 1

SYSID_ENFORCE: GCS sysid enforcement

Note: This parameter is for advanced users

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

Values
Value Meaning 0 NotEnforced 1 Enforced

FRAME_CLASS: Frame Class

Controls major frame class for multicopter component

RebootRequired	Values
True	Value Meaning 0 Undefined 1 Quad 2 Hexa 3 Octa 4 OctaQuad 5 Y6 6 Heli 7 Tri 8 SingleCopter 9 CoaxCopter 10 BiCopter 11 Heli_Dual 12 DodecaHexa 13 HeliQuad

PILOT_SPEED_DN: Pilot maximum vertical speed descending

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

Increment	Range	Units
10	50 - 500	centimeters per second

LAND_ALT_LOW: Land alt low

Note: This parameter is for advanced users

Altitude during Landing at which vehicle slows to LAND_SPEED

Increment	Range	Units
10	100 - 10000	centimeters

TUNE_MIN: Tuning minimum

Minimum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to

TUNE_MAX: Tuning maximum

Maximum value that the parameter currently being tuned with the transmitter's channel 6 knob will be set to

FS_VIBE_ENABLE: Vibration Failsafe enable

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

Values
Value Meaning 0 Disabled 1 Enabled

FS_OPTIONS: Failsafe options bitmask

Note: This parameter is for advanced users

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

Bitmask

Values

Bit Meaning 0 Continue if in Auto on RC failsafe 1 Continue if in Auto on GCS failsafe 2 Continue if in Guided on RC failsafe 3 Continue if landing on any failsafe 4 Continue if in pilot controlled modes on GCS failsafe

Value Meaning 0 Disabled 1 Continue if in Auto on RC failsafe only 2 Continue if in Auto on GCS failsafe only 3 Continue if in Auto on RC and/or GCS failsafe 4 Continue if in Guided on RC failsafe only 8 Continue if landing on any failsafe 16 Continue if in pilot controlled modes on GCS failsafe 19 Continue if in Auto on RC and/or GCS failsafe and continue if in pilot controlled modes on GCS failsafe

CH7_OPT: Channel 7 option

Select which function is performed when CH7 is above 1800 pwm

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Object Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl

CH8_OPT: Channel 8 option

Select which function is performed when CH8 is above 1800 pwm

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Object Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl

CH9_OPT: Channel 9 option

Select which function is performed when CH9 is above 1800 pwm

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Object Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl

CH10_OPT: Channel 10 option

Select which function is performed when CH10 is above 1800 pwm

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Object Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl

CH11_OPT: Channel 11 option

Select which function is performed when CH11 is above 1800 pwm

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Object Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl

CH12_OPT: Channel 12 option

Select which function is performed when CH12 is above 1800 pwm

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Object Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl

TUNE_LOW: Tuning minimum

The minimum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob

Range
0 - 32767

TUNE_HIGH: Tuning maximum

The maximum value that will be applied to the parameter currently being tuned with the transmitter's channel 6 knob

Range
0 - 32767

ADSB_ Parameters

ADSB_ENABLE: Enable ADSB

Enable ADS-B

Values
Value Meaning 0 Disabled 1 Enabled

ADSB_LIST_MAX: ADSB vehicle list size

Note: This parameter is for advanced users

ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.

Range
1 - 100

ADSB_LIST_RADIUS: ADSB vehicle list radius filter

Note: This parameter is for advanced users

ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.

Range	Units
0 - 100000	meters

ADSB_ICAO_ID: ICAO_ID vehicle identification number

Note: This parameter is for advanced users

ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.

Range
-1 - 16777215

ADSB_EMIT_TYPE: Emitter type

Note: This parameter is for advanced users

ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).

Values
Value Meaning 0 NoInfo 1 Light 2 Small 3 Large 4 HighVortexlarge 5 Heavy 6 HighlyManuv 7 Rotocraft 8 RESERVED 9 Glider 10 LightAir 11 Parachute 12 UltraLight 13 RESERVED 14 UAV 15 Space 16 RESERVED 17 EmergencySurface 18 ServiceSurface 19 PointObstacle

ADSB_LEN_WIDTH: Aircraft length and width

Note: This parameter is for advanced users

Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.

Values
Value Meaning 0 NO_DATA 1 L15W23 2 L25W28P5 3 L25W34 4 L35W33 5 L35W38 6 L45W39P5 7 L45W45 8 L55W45 9 L55W52 10 L65W59P5 11 L65W67 12 L75W72P5 13 L75W80 14 L85W80 15 L85W90

ADSB_OFFSET_LAT: GPS antenna lateral offset

Note: This parameter is for advanced users

GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft.

Values
Value Meaning 0 NoData 1 Left2m 2 Left4m 3 Left6m 4 Center 5 Right2m 6 Right4m 7 Right6m

ADSB_OFFSET_LON: GPS antenna longitudinal offset

Note: This parameter is for advanced users

GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor

Values
Value Meaning 0 NO_DATA 1 AppliedBySensor

ADSB_RF_SELECT: Transceiver RF selection

Note: This parameter is for advanced users

Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and Rx. Rx-only devices override this to always be Rx-only.

Values
Value Meaning 0 Disabled 1 Rx-Only 2 Tx-Only 3 Rx and Tx Enabled

ADSB_SQUAWK: Squawk code

Note: This parameter is for advanced users

VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.

Range	Units
0 - 7777	octal

ADSB_RF_CAPABLE: RF capabilities

Note: This parameter is for advanced users

Describes your hardware RF In/Out capabilities.

Bitmask	Values
Bit Meaning 0 UAT_in 1 1090ES_in 2 UAT_out 3 1090ES_out	Value Meaning 0 Unknown 1 Rx UAT only 3 Rx UAT and 1090ES 7 Rx&Tx UAT and 1090ES

ADSB_LIST_ALT: ADSB vehicle list altitude filter

Note: This parameter is for advanced users

ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.

Range	Units
0 - 32767	meters

ADSB_ICAO_SPECL: ICAO_ID of special vehicle

Note: This parameter is for advanced users

ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.

ADSB_LOG: ADS-B logging

Note: This parameter is for advanced users

0: no logging, 1: log only special ID, 2:log all

Values
Value Meaning 0 no logging 1 log only special ID 2 log all

AFS_ Parameters

AFS_ENABLE: Enable Advanced Failsafe

Note: This parameter is for advanced users

This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect

AFS_MAN_PIN: Manual Pin

Note: This parameter is for advanced users

This sets a digital output pin to set high when in manual mode

AFS_HB_PIN: Heartbeat Pin

Note: This parameter is for advanced users

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5

AFS_WP_COMMS: Comms Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_GPS_LOSS: GPS Loss Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate

Note: This parameter is for advanced users

Can be set in flight to force termination of the heartbeat signal

AFS_TERM_ACTION: Terminate action

Note: This parameter is for advanced users

This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup APM to handle it here. Please consult the wiki for more information on the possible values of the parameter

AFS_TERM_PIN: Terminate Pin

Note: This parameter is for advanced users

This sets a digital output pin to set high on flight termination

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5

AFS_AMSL_LIMIT: AMSL limit

Note: This parameter is for advanced users

This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.

Units
meters

AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit

Note: This parameter is for advanced users

This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.

Units
meters

AFS_QNH_PRESSURE: QNH pressure

Note: This parameter is for advanced users

This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.

Units
millibar

AFS_MAX_GPS_LOSS: Maximum number of GPS loss events

Note: This parameter is for advanced users

Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.

AFS_MAX_COM_LOSS: Maximum number of comms loss events

Note: This parameter is for advanced users

Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.

AFS_GEOFENCE: Enable geofence Advanced Failsafe

Note: This parameter is for advanced users

This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1

AFS_RC: Enable RC Advanced Failsafe

Note: This parameter is for advanced users

This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1

AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes

Note: This parameter is for advanced users

If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.

AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously

Note: This parameter is for advanced users

This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.

AFS_RC_FAIL_TIME: RC failure time

Note: This parameter is for advanced users

This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.

Units
seconds

AFS_MAX_RANGE: Max allowed range

Note: This parameter is for advanced users

This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.

Units
kilometers

AHRS_ Parameters

AHRS_GPS_GAIN: AHRS GPS gain

Note: This parameter is for advanced users

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

Increment	Range
.01	0.0 - 1.0

AHRS_GPS_USE: AHRS use GPS for navigation

Note: This parameter is for advanced users

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS whenever it is available.

Values
Value Meaning 0 Disabled 1 Enabled

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

Increment	Range
.01	0.1 - 0.4

AHRS_RP_P: AHRS RP_P

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Increment	Range
.01	0.1 - 0.4

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 127	meters per second

AHRS_TRIM_X: AHRS Trim Roll

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

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_TRIM_Y: AHRS Trim Pitch

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

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_TRIM_Z: AHRS Trim Yaw

Note: This parameter is for advanced users

Not Used

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

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

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Roll180Yaw45 10 Roll180Yaw90 11 Roll180Yaw135 12 Pitch180 13 Roll180Yaw225 14 Roll180Yaw270 15 Roll180Yaw315 16 Roll90 17 Roll90Yaw45 18 Roll90Yaw90 19 Roll90Yaw135 20 Roll270 21 Roll270Yaw45 22 Roll270Yaw90 23 Roll270Yaw135 24 Pitch90 25 Pitch270 26 Pitch180Yaw90 27 Pitch180Yaw270 28 Roll90Pitch90 29 Roll180Pitch90 30 Roll270Pitch90 31 Roll90Pitch180 32 Roll270Pitch180 33 Roll90Pitch270 34 Roll180Pitch270 35 Roll270Pitch270 36 Roll90Pitch180Yaw90 37 Roll90Yaw270 38 Yaw293Pitch68Roll180 39 Pitch315 40 Roll90Pitch315 100 Custom

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Increment	Range
.01	0.001 - 0.5

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

Increment	Range
1	0 - 10

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 2 Enable EKF2 3 Enable EKF3

AHRS_CUSTOM_ROLL: Board orientation roll offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 - 180	degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 - 180	degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 - 180	degrees

ARMING_ Parameters

ARMING_REQUIRE: Require Arming Motors

Note: This parameter is for advanced users

Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.

Values
Value Meaning 0 Disabled 1 THR_MIN PWM when disarmed 2 0 PWM when disarmed

ARMING_ACCTHRESH: Accelerometer error threshold

Note: This parameter is for advanced users

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

Range	Units
0.25 - 3.0	meters per square second

ARMING_RUDDER: Arming with Rudder enable/disable

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 ArmingOnly 2 ArmOrDisarm

ARMING_MIS_ITEMS: Required mission items

Note: This parameter is for advanced users

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

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

ARMING_CHECK: Arm Checks to Peform (bitmask)

Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. The default is no checks, allowing arming at any time. 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. For most users it is recommended that you set this to 1 to enable all checks.

Bitmask	Values
Bit Meaning 0 All 1 Barometer 2 Compass 3 GPS lock 4 INS 5 Parameters 6 RC Channels 7 Board voltage 8 Battery Level 9 Airspeed 10 Logging Available 11 Hardware safety switch 12 GPS Configuration 13 System 14 Mission 15 Rangefinder	Value Meaning 0 None 1 All 2 Barometer 4 Compass 8 GPS Lock 16 INS(INertial Sensors - accels & gyros) 32 Parameters(unused) 64 RC Channels 128 Board voltage 256 Battery Level 512 Airspeed 1024 LoggingAvailable 2048 Hardware safety switch 4096 GPS configuration 8192 System 16384 Mission 32768 RangeFinder

AROT_ Parameters

AROT_ENABLE: Enable settings for RSC Setpoint

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the autonomous autorotation capability.

Values
Value Meaning 0 Disabled 1 Enabled

AROT_HS_P: P gain for head spead controller

Note: This parameter is for advanced users

Increase value to increase sensitivity of head speed controller during autonomous autorotation.

Increment	Range
0.01	0.3 - 1

AROT_HS_SET_PT: Target Head Speed

Note: This parameter is for advanced users

The target head speed in RPM during autorotation. Start by setting to desired hover speed and tune from there as necessary.

Increment	Range	Units
1	1000 - 2800	Revolutions Per Minute

AROT_TARG_SP: Target Glide Ground Speed

Note: This parameter is for advanced users

Target ground speed in cm/s for the autorotation controller to try and achieve/ maintain during the glide phase.

Increment	Range	Units
50	800 - 2000	centimeters per second

AROT_COL_FILT_E: Entry Phase Collective Filter

Note: This parameter is for advanced users

Cut-off frequency for collective low pass filter. For the entry phase. Acts as a following trim. Must be higher than AROT_COL_FILT_G.

Increment	Range	Units
0.01	0.2 - 0.5	hertz

AROT_COL_FILT_G: Glide Phase Collective Filter

Note: This parameter is for advanced users

Cut-off frequency for collective low pass filter. For the glide phase. Acts as a following trim. Must be lower than AROT_COL_FILT_E.

Increment	Range	Units
0.01	0.03 - 0.15	hertz

AROT_AS_ACC_MAX: Forward Acceleration Limit

Note: This parameter is for advanced users

Maximum forward acceleration to apply in speed controller.

Increment	Range	Units
10	30 - 60	centimeters per square second

AROT_BAIL_TIME: Bail Out Timer

Note: This parameter is for advanced users

Time in seconds from bail out initiated to the exit of autorotation flight mode.

Increment	Range	Units
0.1	0.5 - 4	seconds

AROT_HS_SENSOR: Main Rotor RPM Sensor

Note: This parameter is for advanced users

Allocate the RPM sensor instance to use for measuring head speed. RPM1 = 0. RPM2 = 1.

Increment	Range	Units
0.1	0.5 - 3	seconds

AROT_FW_V_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

Velocity (horizontal) P gain. Determines the propotion of the target acceleration based on the velocity error.

Increment	Range
0.1	0.1 - 6.0

AROT_FW_V_FF: Velocity (horizontal) feed forward

Note: This parameter is for advanced users

Velocity (horizontal) input filter. Corrects the target acceleration proportionally to the desired velocity.

Increment	Range
0.01	0 - 1

ATC_ Parameters

ATC_SLEW_YAW: Yaw target slew rate

Note: This parameter is for advanced users

Maximum rate the yaw target can be updated in Loiter, RTL, Auto flight modes

Increment	Range	Units
100	500 - 18000	centidegrees per second

ATC_ACCEL_Y_MAX: Acceleration Max for Yaw

Note: This parameter is for advanced users

Maximum acceleration in yaw axis

Increment	Range	Units	Values
1000	0 - 72000	centidegrees per square second	Value Meaning 0 Disabled 9000 VerySlow 18000 Slow 36000 Medium 54000 Fast

ATC_RATE_FF_ENAB: Rate Feedforward Enable

Note: This parameter is for advanced users

Controls whether body-frame rate feedfoward is enabled or disabled

Values
Value Meaning 0 Disabled 1 Enabled

ATC_ACCEL_R_MAX: Acceleration Max for Roll

Note: This parameter is for advanced users

Maximum acceleration in roll axis

Increment	Range	Units	Values
1000	0 - 180000	centidegrees per square second	Value Meaning 0 Disabled 30000 VerySlow 72000 Slow 108000 Medium 162000 Fast

ATC_ACCEL_P_MAX: Acceleration Max for Pitch

Note: This parameter is for advanced users

Maximum acceleration in pitch axis

Increment	Range	Units	Values
1000	0 - 180000	centidegrees per square second	Value Meaning 0 Disabled 30000 VerySlow 72000 Slow 108000 Medium 162000 Fast

ATC_ANGLE_BOOST: Angle Boost

Note: This parameter is for advanced users

Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude

Values
Value Meaning 0 Disabled 1 Enabled

ATC_ANG_RLL_P: Roll axis angle controller P gain

Roll axis angle controller P gain. Converts the error between the desired roll angle and actual angle to a desired roll rate

Range
0.0 - 12.000

ATC_ANG_PIT_P: Pitch axis angle controller P gain

Pitch axis angle controller P gain. Converts the error between the desired pitch angle and actual angle to a desired pitch rate

Range
0.0 - 12.000

ATC_ANG_YAW_P: Yaw axis angle controller P gain

Yaw axis angle controller P gain. Converts the error between the desired yaw angle and actual angle to a desired yaw rate

Range
0.0 - 6.000

ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant

Note: This parameter is for advanced users

Angle Limit (to maintain altitude) Time Constant

Range
0.5 - 10.0

ATC_RATE_R_MAX: Angular Velocity Max for Roll

Note: This parameter is for advanced users

Maximum angular velocity in roll axis

Increment	Range	Units	Values
1	0 - 1080	degrees per second	Value Meaning 0 Disabled 360 Slow 720 Medium 1080 Fast

ATC_RATE_P_MAX: Angular Velocity Max for Pitch

Note: This parameter is for advanced users

Maximum angular velocity in pitch axis

Increment	Range	Units	Values
1	0 - 1080	degrees per second	Value Meaning 0 Disabled 360 Slow 720 Medium 1080 Fast

ATC_RATE_Y_MAX: Angular Velocity Max for Yaw

Note: This parameter is for advanced users

Maximum angular velocity in yaw axis

Increment	Range	Units	Values
1	0 - 1080	degrees per second	Value Meaning 0 Disabled 360 Slow 720 Medium 1080 Fast

ATC_INPUT_TC: Attitude control input time constant

Attitude control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Increment	Range	Units	Values
0.01	0 - 1	seconds	0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp

ATC_RAT_RLL_P (AC_AttitudeControl_Multi): Roll axis rate controller P gain

Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output

Increment	Range
0.005	0.01 - 0.5

ATC_RAT_RLL_I (AC_AttitudeControl_Multi): Roll axis rate controller I gain

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

Increment	Range
0.01	0.01 - 2.0

ATC_RAT_RLL_IMAX (AC_AttitudeControl_Multi): Roll axis rate controller I gain maximum

Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Increment	Range	Units
0.01	0 - 1	percent

ATC_RAT_RLL_D (AC_AttitudeControl_Multi): Roll axis rate controller D gain

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

Increment	Range
0.001	0.0 - 0.05

ATC_RAT_RLL_FF: Roll axis rate controller feed forward

Roll axis rate controller feed forward

Increment	Range
0.001	0 - 0.5

ATC_RAT_RLL_FLTT (AC_AttitudeControl_Multi): Roll axis rate controller target frequency in Hz

Roll axis rate controller target frequency in Hz

Increment	Range	Units
1	5 - 100	hertz

ATC_RAT_RLL_FLTE (AC_AttitudeControl_Multi): Roll axis rate controller error frequency in Hz

Roll axis rate controller error frequency in Hz

Increment	Range	Units
1	0 - 100	hertz

ATC_RAT_RLL_FLTD (AC_AttitudeControl_Multi): Roll axis rate controller derivative frequency in Hz

Roll axis rate controller derivative frequency in Hz

Increment	Range	Units
1	5 - 100	hertz

ATC_RAT_PIT_P (AC_AttitudeControl_Multi): Pitch axis rate controller P gain

Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output

Increment	Range
0.005	0.01 - 0.50

ATC_RAT_PIT_I (AC_AttitudeControl_Multi): Pitch axis rate controller I gain

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

Increment	Range
0.01	0.01 - 2.0

ATC_RAT_PIT_IMAX (AC_AttitudeControl_Multi): Pitch axis rate controller I gain maximum

Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Increment	Range	Units
0.01	0 - 1	percent

ATC_RAT_PIT_D (AC_AttitudeControl_Multi): Pitch axis rate controller D gain

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

Increment	Range
0.001	0.0 - 0.05

ATC_RAT_PIT_FF: Pitch axis rate controller feed forward

Pitch axis rate controller feed forward

Increment	Range
0.001	0 - 0.5

ATC_RAT_PIT_FLTT (AC_AttitudeControl_Multi): Pitch axis rate controller target frequency in Hz

Pitch axis rate controller target frequency in Hz

Increment	Range	Units
1	5 - 100	hertz

ATC_RAT_PIT_FLTE (AC_AttitudeControl_Multi): Pitch axis rate controller error frequency in Hz

Pitch axis rate controller error frequency in Hz

Increment	Range	Units
1	0 - 100	hertz

ATC_RAT_PIT_FLTD (AC_AttitudeControl_Multi): Pitch axis rate controller derivative frequency in Hz

Pitch axis rate controller derivative frequency in Hz

Increment	Range	Units
1	5 - 100	hertz

ATC_RAT_YAW_P (AC_AttitudeControl_Multi): Yaw axis rate controller P gain

Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output

Increment	Range
0.005	0.10 - 2.50

ATC_RAT_YAW_I (AC_AttitudeControl_Multi): Yaw axis rate controller I gain

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

Increment	Range
0.01	0.010 - 1.0

ATC_RAT_YAW_IMAX (AC_AttitudeControl_Multi): Yaw axis rate controller I gain maximum

Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Increment	Range	Units
0.01	0 - 1	percent

ATC_RAT_YAW_D (AC_AttitudeControl_Multi): Yaw axis rate controller D gain

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

Increment	Range
0.001	0.000 - 0.02

ATC_RAT_YAW_FF: Yaw axis rate controller feed forward

Yaw axis rate controller feed forward

Increment	Range
0.001	0 - 0.5

ATC_RAT_YAW_FLTT (AC_AttitudeControl_Multi): Yaw axis rate controller target frequency in Hz

Yaw axis rate controller target frequency in Hz

Increment	Range	Units
1	1 - 50	hertz

ATC_RAT_YAW_FLTE (AC_AttitudeControl_Multi): Yaw axis rate controller error frequency in Hz

Yaw axis rate controller error frequency in Hz

Increment	Range	Units
1	0 - 20	hertz

ATC_RAT_YAW_FLTD (AC_AttitudeControl_Multi): Yaw axis rate controller derivative frequency in Hz

Yaw axis rate controller derivative frequency in Hz

Increment	Range	Units
1	5 - 50	hertz

ATC_THR_MIX_MIN: Throttle Mix Minimum

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used when landing (higher values mean we prioritise attitude control over throttle)

Range
0.1 - 0.25

ATC_THR_MIX_MAX: Throttle Mix Maximum

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used during active flight (higher values mean we prioritise attitude control over throttle)

Range
0.5 - 0.9

ATC_THR_MIX_MAN: Throttle Mix Manual

Note: This parameter is for advanced users

Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)

Range
0.1 - 0.9

ATC_RAT_RLL_FILT: Roll axis rate controller input frequency in Hz

Roll axis rate controller input frequency in Hz

Increment	Range	Units
1	1 - 100	hertz

ATC_RAT_PIT_FILT: Pitch axis rate controller input frequency in Hz

Pitch axis rate controller input frequency in Hz

Increment	Range	Units
1	1 - 100	hertz

ATC_RAT_YAW_FILT: Yaw axis rate controller input frequency in Hz

Yaw axis rate controller input frequency in Hz

Increment	Range	Units
1	1 - 10	hertz

ATC_HOVR_ROL_TRM: Hover Roll Trim

Note: This parameter is for advanced users

Trim the hover roll angle to counter tail rotor thrust in a hover

Range	Units
0 - 1000	centidegrees

ATC_RAT_RLL_P (AC_AttitudeControl_Heli): Roll axis rate controller P gain

Roll axis rate controller P gain. Converts the difference between desired roll rate and actual roll rate into a motor speed output

Increment	Range
0.005	0.08 - 0.35

ATC_RAT_RLL_I (AC_AttitudeControl_Heli): Roll axis rate controller I gain

Roll axis rate controller I gain. Corrects long-term difference in desired roll rate vs actual roll rate

Increment	Range
0.01	0.01 - 0.6

ATC_RAT_RLL_IMAX (AC_AttitudeControl_Heli): Roll axis rate controller I gain maximum

Roll axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Increment	Range
0.01	0 - 1

ATC_RAT_RLL_ILMI: Roll axis rate controller I-term leak minimum

Note: This parameter is for advanced users

Point below which I-term will not leak down

Range
0 - 1

ATC_RAT_RLL_D (AC_AttitudeControl_Heli): Roll axis rate controller D gain

Roll axis rate controller D gain. Compensates for short-term change in desired roll rate vs actual roll rate

Increment	Range
0.001	0.001 - 0.03

ATC_RAT_RLL_VFF: Roll axis rate controller feed forward

Roll axis rate controller feed forward

Increment	Range
0.001	0 - 0.5

ATC_RAT_RLL_FLTT (AC_AttitudeControl_Heli): Roll axis rate controller target frequency in Hz

Roll axis rate controller target frequency in Hz

Increment	Range	Units
1	5 - 50	hertz

ATC_RAT_RLL_FLTE (AC_AttitudeControl_Heli): Roll axis rate controller error frequency in Hz

Roll axis rate controller error frequency in Hz

Increment	Range	Units
1	5 - 50	hertz

ATC_RAT_RLL_FLTD (AC_AttitudeControl_Heli): Roll axis rate controller derivative frequency in Hz

Roll axis rate controller derivative frequency in Hz

Increment	Range	Units
1	0 - 50	hertz

ATC_RAT_PIT_P (AC_AttitudeControl_Heli): Pitch axis rate controller P gain

Pitch axis rate controller P gain. Converts the difference between desired pitch rate and actual pitch rate into a motor speed output

Increment	Range
0.005	0.08 - 0.35

ATC_RAT_PIT_I (AC_AttitudeControl_Heli): Pitch axis rate controller I gain

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

Increment	Range
0.01	0.01 - 0.6

ATC_RAT_PIT_IMAX (AC_AttitudeControl_Heli): Pitch axis rate controller I gain maximum

Pitch axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Increment	Range
0.01	0 - 1

ATC_RAT_PIT_ILMI: Pitch axis rate controller I-term leak minimum

Note: This parameter is for advanced users

Point below which I-term will not leak down

Range
0 - 1

ATC_RAT_PIT_D (AC_AttitudeControl_Heli): Pitch axis rate controller D gain

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

Increment	Range
0.001	0.001 - 0.03

ATC_RAT_PIT_VFF: Pitch axis rate controller feed forward

Pitch axis rate controller feed forward

Increment	Range
0.001	0 - 0.5

ATC_RAT_PIT_FLTT (AC_AttitudeControl_Heli): Pitch axis rate controller target frequency in Hz

Pitch axis rate controller target frequency in Hz

Increment	Range	Units
1	5 - 50	hertz

ATC_RAT_PIT_FLTE (AC_AttitudeControl_Heli): Pitch axis rate controller error frequency in Hz

Pitch axis rate controller error frequency in Hz

Increment	Range	Units
1	5 - 50	hertz

ATC_RAT_PIT_FLTD (AC_AttitudeControl_Heli): Pitch axis rate controller derivative frequency in Hz

Pitch axis rate controller derivative frequency in Hz

Increment	Range	Units
1	0 - 50	hertz

ATC_RAT_YAW_P (AC_AttitudeControl_Heli): Yaw axis rate controller P gain

Yaw axis rate controller P gain. Converts the difference between desired yaw rate and actual yaw rate into a motor speed output

Increment	Range
0.005	0.180 - 0.60

ATC_RAT_YAW_I (AC_AttitudeControl_Heli): Yaw axis rate controller I gain

Yaw axis rate controller I gain. Corrects long-term difference in desired yaw rate vs actual yaw rate

Increment	Range
0.01	0.01 - 0.06

ATC_RAT_YAW_IMAX (AC_AttitudeControl_Heli): Yaw axis rate controller I gain maximum

Yaw axis rate controller I gain maximum. Constrains the maximum motor output that the I gain will output

Increment	Range
0.01	0 - 1

ATC_RAT_YAW_ILMI: Yaw axis rate controller I-term leak minimum

Note: This parameter is for advanced users

Point below which I-term will not leak down

Range
0 - 1

ATC_RAT_YAW_D (AC_AttitudeControl_Heli): Yaw axis rate controller D gain

Yaw axis rate controller D gain. Compensates for short-term change in desired yaw rate vs actual yaw rate

Increment	Range
0.001	0.000 - 0.02

ATC_RAT_YAW_VFF: Yaw axis rate controller feed forward

Yaw axis rate controller feed forward

Increment	Range
0.001	0 - 0.5

ATC_RAT_YAW_FLTT (AC_AttitudeControl_Heli): Yaw axis rate controller target frequency in Hz

Yaw axis rate controller target frequency in Hz

Increment	Range	Units
1	5 - 50	hertz

ATC_RAT_YAW_FLTE (AC_AttitudeControl_Heli): Yaw axis rate controller error frequency in Hz

Yaw axis rate controller error frequency in Hz

Increment	Range	Units
1	5 - 50	hertz

ATC_RAT_YAW_FLTD (AC_AttitudeControl_Heli): Yaw axis rate controller derivative frequency in Hz

Yaw axis rate controller derivative frequency in Hz

Increment	Range	Units
1	0 - 50	hertz

ATC_PIRO_COMP: Piro Comp Enable

Note: This parameter is for advanced users

Pirouette compensation enabled

Values
Value Meaning 0 Disabled 1 Enabled

AUTOTUNE_ Parameters

AUTOTUNE_AXES: Autotune axis bitmask

1-byte bitmap of axes to autotune

Bitmask	Values
Bit Meaning 0 Roll 1 Pitch 2 Yaw	Value Meaning 7 All 1 Roll Only 2 Pitch Only 4 Yaw Only 3 Roll and Pitch 5 Roll and Yaw 6 Pitch and Yaw

AUTOTUNE_AGGR: Autotune aggressiveness

Autotune aggressiveness. Defines the bounce back used to detect size of the D term.

Range
0.05 - 0.10

AUTOTUNE_MIN_D: AutoTune minimum D

Defines the minimum D gain

Range
0.001 - 0.006

AVD_ Parameters

AVD_ENABLE: Enable Avoidance using ADSB

Note: This parameter is for advanced users

Enable Avoidance using ADSB

Values
Value Meaning 0 Disabled 1 Enabled

AVD_F_RCVRY: Recovery behaviour after a fail event

Note: This parameter is for advanced users

Determines what the aircraft will do after a fail event is resolved

Values
Value Meaning 0 Remain in AVOID_ADSB 1 Resume previous flight mode 2 RTL 3 Resume if AUTO else Loiter

AVD_OBS_MAX: Maximum number of obstacles to track

Note: This parameter is for advanced users

Maximum number of obstacles to track

AVD_W_TIME: Time Horizon Warn

Note: This parameter is for advanced users

Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)

Units
seconds

AVD_F_TIME: Time Horizon Fail

Note: This parameter is for advanced users

Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken

Units
seconds

AVD_W_DIST_XY: Distance Warn XY

Note: This parameter is for advanced users

Closest allowed projected distance before W_ACTION is undertaken

Units
meters

AVD_F_DIST_XY: Distance Fail XY

Note: This parameter is for advanced users

Closest allowed projected distance before F_ACTION is undertaken

Units
meters

AVD_W_DIST_Z: Distance Warn Z

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_W is undertaken

Units
meters

AVD_F_DIST_Z: Distance Fail Z

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_F is undertaken

Units
meters

AVD_F_ALT_MIN: ADS-B avoidance minimum altitude

Note: This parameter is for advanced users

Minimum altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.

Units
meters

AVOID_ Parameters

AVOID_ENABLE: Avoidance control enable/disable

Enabled/disable avoidance input sources

Bitmask	Values
Bit Meaning 0 UseFence 1 UseProximitySensor 2 UseBeaconFence	Value Meaning 0 None 1 UseFence 2 UseProximitySensor 3 UseFence and UseProximitySensor 4 UseBeaconFence 7 All

AVOID_ANGLE_MAX: Avoidance max lean angle in non-GPS flight modes

Max lean angle used to avoid obstacles while in non-GPS modes

Range	Units
0 - 4500	centidegrees

AVOID_DIST_MAX: Avoidance distance maximum in non-GPS flight modes

Distance from object at which obstacle avoidance will begin in non-GPS modes

Range	Units
1 - 30	meters

AVOID_MARGIN: Avoidance distance margin in GPS modes

Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes

Range	Units
1 - 10	meters

AVOID_BEHAVE: Avoidance behaviour

Avoidance behaviour (slide or stop)

Values
Value Meaning 0 Slide 1 Stop

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT2_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT2_CURR_PIN: Battery Current sensing pin

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

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

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT2_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT2_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT2_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT2_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT2_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT2_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT2_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT2_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT2_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT3_ Parameters

BATT3_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT3_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT3_CURR_PIN: Battery Current sensing pin

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

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

BATT3_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT3_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT3_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT3_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT3_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT3_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT3_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT3_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT3_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT3_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT3_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT3_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT3_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT3_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT3_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT4_ Parameters

BATT4_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT4_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT4_CURR_PIN: Battery Current sensing pin

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

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

BATT4_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT4_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT4_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT4_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT4_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT4_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT4_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT4_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT4_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT4_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT4_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT4_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT4_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT4_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT4_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT5_ Parameters

BATT5_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT5_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT5_CURR_PIN: Battery Current sensing pin

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

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

BATT5_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT5_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT5_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT5_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT5_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT5_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT5_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT5_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT5_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT5_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT5_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT5_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT5_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT5_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT5_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT6_ Parameters

BATT6_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT6_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT6_CURR_PIN: Battery Current sensing pin

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

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

BATT6_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT6_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT6_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT6_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT6_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT6_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT6_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT6_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT6_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT6_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT6_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT6_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT6_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT6_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT6_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT7_ Parameters

BATT7_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT7_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT7_CURR_PIN: Battery Current sensing pin

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

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

BATT7_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT7_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT7_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT7_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT7_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT7_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT7_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT7_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT7_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT7_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT7_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT7_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT7_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT7_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT7_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT8_ Parameters

BATT8_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT8_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT8_CURR_PIN: Battery Current sensing pin

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

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

BATT8_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT8_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT8_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT8_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT8_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT8_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT8_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT8_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT8_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT8_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT8_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT8_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT8_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT8_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT8_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT9_ Parameters

BATT9_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT9_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT9_CURR_PIN: Battery Current sensing pin

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

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

BATT9_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT9_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT9_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT9_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT9_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT9_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT9_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT9_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT9_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT9_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT9_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT9_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT9_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT9_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT9_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BATT_ Parameters

BATT_MONITOR: Battery monitoring

Controls enabling monitoring of the battery's voltage and current

RebootRequired	Values
True	Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Maxell 8 UAVCAN-BatteryInfo 9 BLHeli ESC 10 SumOfFollowing 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign

BATT_VOLT_PIN: Battery Voltage sensing pin

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

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

BATT_CURR_PIN: Battery Current sensing pin

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

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

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt

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

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT_WATT_MAX: Maximum allowed power (Watts)

Note: This parameter is for advanced users

If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.

Increment	Units
1	watt

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate

BATT_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT_BUS: Battery monitor I2C bus number

Battery monitor I2C bus number

Range
0 - 3

BCN Parameters

BCN_TYPE: Beacon based position estimation device type

Note: This parameter is for advanced users

What type of beacon based position estimation device is connected

Values
Value Meaning 0 None 1 Pozyx 2 Marvelmind 10 SITL

BCN_LATITUDE: Beacon origin's latitude

Note: This parameter is for advanced users

Beacon origin's latitude

Increment	Range	Units
0.000001	-90 - 90	degrees

BCN_LONGITUDE: Beacon origin's longitude

Note: This parameter is for advanced users

Beacon origin's longitude

Increment	Range	Units
0.000001	-180 - 180	degrees

BCN_ALT: Beacon origin's altitude above sealevel in meters

Note: This parameter is for advanced users

Beacon origin's altitude above sealevel in meters

Increment	Range	Units
1	0 - 10000	meters

BCN_ORIENT_YAW: Beacon systems rotation from north in degrees

Note: This parameter is for advanced users

Beacon systems rotation from north in degrees

Increment	Range	Units
1	-180 - +180	degrees

BRD_ Parameters

BRD_PWM_COUNT: Auxiliary pin config

Note: This parameter is for advanced users

Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO

RebootRequired	Values
True	Value Meaning 0 No PWMs 1 One PWMs 2 Two PWMs 3 Three PWMs 4 Four PWMs 5 Five PWMs 6 Six PWMs 7 Seven PWMs 8 Eight PWMs

BRD_SER1_RTSCTS: Serial 1 flow control

Note: This parameter is for advanced users

Enable flow control on serial 1 (telemetry 1) on Pixhawk. 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.

RebootRequired	Values
True	Value Meaning 0 Disabled 1 Enabled 2 Auto

BRD_SER2_RTSCTS: Serial 2 flow control

Note: This parameter is for advanced users

Enable flow control on serial 2 (telemetry 2) on Pixhawk and STATE. 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.

RebootRequired	Values
True	Value Meaning 0 Disabled 1 Enabled 2 Auto

BRD_SAFETYENABLE: Enable use of safety arming 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.

RebootRequired	Values
True	Value Meaning 0 Disabled 1 Enabled

BRD_SBUS_OUT: SBUS output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz

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

BRD_SERIAL_NUM: User-defined serial number

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

Range
-32768 - 32767

BRD_SAFETY_MASK: Channels which ignore the safety switch state

Note: This parameter is for advanced users

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

Bitmask	RebootRequired	Values
Bit Meaning 0 Ch1 1 Ch2 2 Ch3 3 Ch4 4 Ch5 5 Ch6 6 Ch7 7 Ch8 8 Ch9 9 Ch10 10 Ch11 11 Ch12 12 Ch13 13 Ch14	True	Value Meaning 0 Disabled 1 Enabled

BRD_IMU_TARGTEMP: Target IMU temperature

Note: This parameter is for advanced users

This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET -1 on The Cube. A value of -1 sets PH1 behaviour

Range	Units
-1 - 80	degrees Celsius

BRD_TYPE: Board type

Note: This parameter is for advanced users

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

RebootRequired	Values
True	Value Meaning 0 AUTO 1 PX4V1 2 Pixhawk 3 Cube/Pixhawk2 4 Pixracer 5 PixhawkMini 6 Pixhawk2Slim 7 VRBrain 5.1 8 VRBrain 5.2 9 VR Micro Brain 5.1 10 VR Micro Brain 5.2 11 VRBrain Core 1.0 12 VRBrain 5.4 13 Intel Aero FC 20 AUAV2.1

BRD_IO_ENABLE: Enable IO co-processor

Note: This parameter is for advanced users

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

RebootRequired	Values
True	Value Meaning 0 Disabled 1 Enabled

BRD_SAFETYOPTION: Options for safety button behavior

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

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

BRD_VBUS_MIN: Autopilot board voltage requirement

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	4.0 - 5.5	volt

BRD_VSERVO_MIN: Servo voltage requirement

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	3.3 - 12.0	volt

BRD_SD_SLOWDOWN: microSD slowdown

Note: This parameter is for advanced users

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

Increment	Range
1	0 - 32

BRD_PWM_VOLT_SEL: Set PWM Out Voltage

Note: This parameter is for advanced users

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

Values
Value Meaning 0 3.3V 1 5V

BRD_OPTIONS: Board options

Note: This parameter is for advanced users

Board specific option flags

Bitmask
Bit Meaning 0 Enable hardware watchdog

BRD_BOOT_DELAY: Boot delay

Note: This parameter is for advanced users

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

Range	Units
0 - 10000	milliseconds

BRD_IMUHEAT_P: IMU Heater P gain

Note: This parameter is for advanced users

IMU Heater P gain

Increment	Range
1	1 - 500

BRD_IMUHEAT_I: IMU Heater I gain

Note: This parameter is for advanced users

IMU Heater integrator gain

Increment	Range
0.1	0 - 1

BRD_IMUHEAT_IMAX: IMU Heater IMAX

Note: This parameter is for advanced users

IMU Heater integrator maximum

Increment	Range
1	0 - 100

BRD_ALT_CONFIG: Alternative HW config

Note: This parameter is for advanced users

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	RebootRequired
1	0 - 10	True

BRD_RADIO Parameters

BRD_RADIO_TYPE: Set type of direct attached radio

This enables support for direct attached radio receivers

Values
Value Meaning 0 None 1 CYRF6936 2 CC2500 3 BK2425

BRD_RADIO_PROT: protocol

Note: This parameter is for advanced users

Select air protocol

Values
Value Meaning 0 Auto 1 DSM2 2 DSMX

BRD_RADIO_DEBUG: debug level

Note: This parameter is for advanced users

radio debug level

Range
0 - 4

BRD_RADIO_DISCRC: disable receive CRC

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values
Value Meaning 0 NotDisabled 1 Disabled

BRD_RADIO_SIGCH: RSSI signal strength

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_PPSCH: Packet rate channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TELEM: Enable telemetry

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power

Note: This parameter is for advanced users

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

Range
1 - 8

BRD_RADIO_FCCTST: Put radio into FCC test mode

Note: This parameter is for advanced users

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

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

BRD_RADIO_STKMD: Stick input mode

Note: This parameter is for advanced users

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

Values
Value Meaning 1 Mode1 2 Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel

Note: This parameter is for advanced users

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

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

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 - 40

BRD_RADIO_ABTIME: Auto-bind time

Note: This parameter is for advanced users

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

Range
0 - 120

BRD_RADIO_ABLVL: Auto-bind level

Note: This parameter is for advanced users

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

Range
0 - 31

BRD_RTC Parameters

BRD_RTC_TYPES: Allowed sources of RTC time

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask
Bit Meaning 0 GPS 1 MAVLINK_SYSTEM_TIME 2 HW

BRD_RTC_TZ_MIN: Timezone offset from UTC

Note: This parameter is for advanced users

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

Range
-720 - +840

BTN_ Parameters

BTN_ENABLE: Enable button reporting

Note: This parameter is for advanced users

This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible

Values
Value Meaning 0 Disabled 1 Enabled

BTN_PIN1: First button Pin

Digital pin number for first button input.

Values
Value Meaning -1 Disabled 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6

BTN_PIN2: Second button Pin

Digital pin number for second button input.

Values
Value Meaning -1 Disabled 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6

BTN_PIN3: Third button Pin

Digital pin number for third button input.

Values
Value Meaning -1 Disabled 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6

BTN_PIN4: Fourth button Pin

Digital pin number for fourth button input.

Values
Value Meaning -1 Disabled 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6

BTN_REPORT_SEND: Report send time

The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.

Range
0 - 3600

CAM_ Parameters

CAM_TRIGG_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values
Value Meaning 0 Servo 1 Relay 2 GoPro in Solo Gimbal

CAM_DURATION: Duration that shutter is held open

How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)

Range	Units
0 - 50	deciseconds

CAM_SERVO_ON: Servo ON PWM value

PWM value in microseconds to move servo to when shutter is activated

Range	Units
1000 - 2000	PWM in microseconds

CAM_SERVO_OFF: Servo OFF PWM value

PWM value in microseconds to move servo to when shutter is deactivated

Range	Units
1000 - 2000	PWM in microseconds

CAM_TRIGG_DIST: Camera trigger distance

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the GPS position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.

Range	Units
0 - 1000	meters

CAM_RELAY_ON: Relay ON value

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

Values
Value Meaning 0 Low 1 High

CAM_MIN_INTERVAL: Minimum time between photos

Postpone shooting if previous picture was taken less than preset time(ms) ago.

Range	Units
0 - 10000	milliseconds

CAM_MAX_ROLL: Maximum photo roll angle.

Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).

Range	Units
0 - 180	degrees

CAM_FEEDBACK_PIN: Camera feedback pin

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.

RebootRequired	Values
True	Value Meaning -1 Disabled 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6

CAM_FEEDBACK_POL: Camera feedback pin polarity

Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low

Values
Value Meaning 0 TriggerLow 1 TriggerHigh

CAM_AUTO_ONLY: Distance-trigging in AUTO mode only

When enabled, trigging by distance is done in AUTO mode only.

Values
Value Meaning 0 Always 1 Only when in AUTO

CAM_TYPE: Type of camera (0: None, 1: BMMCC)

Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.

Values
Value Meaning 0 Default 1 BMMCC

CAN_D1_ Parameters

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

RebootRequired	Values
True	Value Meaning 0 Disabled 1 UAVCAN 2 KDECAN 3 ToshibaCAN

CAN_D1_KDE_ Parameters

CAN_D1_KDE_NPOLE: Number of motor poles

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

CAN_D1_UC_ Parameters

CAN_D1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CAN_D1_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D2_ Parameters

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

RebootRequired	Values
True	Value Meaning 0 Disabled 1 UAVCAN 2 KDECAN 3 ToshibaCAN

CAN_D2_KDE_ Parameters

CAN_D2_KDE_NPOLE: Number of motor poles

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

CAN_D2_UC_ Parameters

CAN_D2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CAN_D2_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D3_ Parameters

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

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

RebootRequired	Values
True	Value Meaning 0 Disabled 1 UAVCAN 2 KDECAN 3 ToshibaCAN

CAN_D3_KDE_ Parameters

CAN_D3_KDE_NPOLE: Number of motor poles

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

CAN_D3_UC_ Parameters

CAN_D3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15

CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
0: ESC 1, 1: ESC 2, 2: ESC 3, 3: ESC 4, 4: ESC 5, 5: ESC 6, 6: ESC 7, 7: ESC 8, 8: ESC 9, 9: ESC 10, 10: ESC 11, 11: ESC 12, 12: ESC 13, 13: ESC 14, 14: ESC 15, 15: ESC 16

CAN_D3_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_P1_ Parameters

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

Enabling this option enables use of CAN buses.

RebootRequired	Values
True	Value Meaning 0 Disabled 1 First driver 2 Second driver

CAN_P1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P1_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning 0 Disabled 1 Major messages 2 All messages

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.

RebootRequired	Values
True	Value Meaning 0 Disabled 1 First driver 2 Second driver

CAN_P2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P2_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning 0 Disabled 1 Major messages 2 All messages

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.

RebootRequired	Values
True	Value Meaning 0 Disabled 1 First driver 2 Second driver

CAN_P3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P3_DEBUG: Level of debug for CAN devices

Note: This parameter is for advanced users

Enabling this option will provide debug messages

Values
Value Meaning 0 Disabled 1 Major messages 2 All messages

CAN_SLCAN_ Parameters

CAN_SLCAN_CPORT: SLCAN Route

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

RebootRequired	Values
True	Value Meaning 0 Disabled 1 First driver 2 Second driver

CAN_SLCAN_SERNUM: SLCAN Serial Port

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

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

CAN_SLCAN_TIMOUT: SLCAN Timeout

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

Range
0 - 32767

CHUTE_ Parameters

CHUTE_ENABLED: Parachute release enabled or disabled

Parachute release enabled or disabled

Values
Value Meaning 0 Disabled 1 Enabled

CHUTE_TYPE: Parachute release mechanism type (relay or servo)

Parachute release mechanism type (relay or servo)

Values
Value Meaning 0 First Relay 1 Second Relay 2 Third Relay 3 Fourth Relay 10 Servo

CHUTE_SERVO_ON: Parachute Servo ON PWM value

Parachute Servo PWM value in microseconds when parachute is released

Increment	Range	Units
1	1000 - 2000	PWM in microseconds

CHUTE_SERVO_OFF: Servo OFF PWM value

Parachute Servo PWM value in microseconds when parachute is not released

Increment	Range	Units
1	1000 - 2000	PWM in microseconds

CHUTE_ALT_MIN: Parachute min altitude in meters above home

Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.

Increment	Range	Units
1	0 - 32000	meters

CHUTE_DELAY_MS: Parachute release delay

Delay in millseconds between motor stop and chute release

Increment	Range	Units
1	0 - 5000	milliseconds

CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency parachute

Release parachute when critical sink rate is reached

Increment	Range	Units
1	0 - 15	meters per second

CIRCLE_ Parameters

CIRCLE_RADIUS: Circle Radius

Defines the radius of the circle the vehicle will fly when in Circle flight mode

Increment	Range	Units
100	0 - 200000	centimeters

CIRCLE_RATE: Circle rate

Circle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise

Increment	Range	Units
1	-90 - 90	degrees per second

CIRCLE_CONTROL: Circle control

Enable or disable using the pitch/roll stick control circle mode's radius and rate

Values
Value Meaning 0 Disable 1 Enable

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Increment	Range	Units
0.01	-3.142 - 3.142	radians

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

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

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

COMPASS_USE: Use compass for yaw

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_AUTODEC: Auto Declination

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_MOTCT: Motor interference compensation type

Note: This parameter is for advanced users

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

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

COMPASS_MOT_X: Motor interference compensation for body frame X axis

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

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

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Roll180Yaw45 10 Roll180Yaw90 11 Roll180Yaw135 12 Pitch180 13 Roll180Yaw225 14 Roll180Yaw270 15 Roll180Yaw315 16 Roll90 17 Roll90Yaw45 18 Roll90Yaw90 19 Roll90Yaw135 20 Roll270 21 Roll270Yaw45 22 Roll270Yaw90 23 Roll270Yaw135 24 Pitch90 25 Pitch270 26 Pitch180Yaw90 27 Pitch180Yaw270 28 Roll90Pitch90 29 Roll180Pitch90 30 Roll270Pitch90 31 Roll90Pitch180 32 Roll270Pitch180 33 Roll90Pitch270 34 Roll180Pitch270 35 Roll270Pitch270 36 Roll90Pitch180Yaw90 37 Roll90Yaw270 38 Yaw293Pitch68Roll180 39 Pitch315 40 Roll90Pitch315 100 Custom

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

Configure compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values
Value Meaning 0 Internal 1 External 2 ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_USE2: Compass2 used for yaw

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_ORIENT2: Compass2 orientation

Note: This parameter is for advanced users

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

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Roll180Yaw45 10 Roll180Yaw90 11 Roll180Yaw135 12 Pitch180 13 Roll180Yaw225 14 Roll180Yaw270 15 Roll180Yaw315 16 Roll90 17 Roll90Yaw45 18 Roll90Yaw90 19 Roll90Yaw135 20 Roll270 21 Roll270Yaw45 22 Roll270Yaw90 23 Roll270Yaw135 24 Pitch90 25 Pitch270 26 Pitch180Yaw90 27 Pitch180Yaw270 28 Roll90Pitch90 29 Roll180Pitch90 30 Roll270Pitch90 31 Roll90Pitch180 32 Roll270Pitch180 33 Roll90Pitch270 34 Roll180Pitch270 35 Roll270Pitch270 36 Roll90Pitch180Yaw90 37 Roll90Yaw270 38 Yaw293Pitch68Roll180 39 Pitch315 40 Roll90Pitch315 100 Custom

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

Configure second compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values
Value Meaning 0 Internal 1 External 2 ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

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

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Roll180Yaw45 10 Roll180Yaw90 11 Roll180Yaw135 12 Pitch180 13 Roll180Yaw225 14 Roll180Yaw270 15 Roll180Yaw315 16 Roll90 17 Roll90Yaw45 18 Roll90Yaw90 19 Roll90Yaw135 20 Roll270 21 Roll270Yaw45 22 Roll270Yaw90 23 Roll270Yaw135 24 Pitch90 25 Pitch270 26 Pitch180Yaw90 27 Pitch180Yaw270 28 Roll90Pitch90 29 Roll180Pitch90 30 Roll270Pitch90 31 Roll90Pitch180 32 Roll270Pitch180 33 Roll90Pitch270 34 Roll180Pitch270 35 Roll270Pitch270 36 Roll90Pitch180Yaw90 37 Roll90Yaw270 38 Yaw293Pitch68Roll180 39 Pitch315 40 Roll90Pitch315 100 Custom

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

Configure third compass so it is attached externally. This is auto-detected on PX4 and Pixhawk. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values
Value Meaning 0 Internal 1 External 2 ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

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

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

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

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

Increment	Range
1	500 - 3000

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 HMC5883 1 LSM303D 2 AK8963 3 BMM150 4 LSM9DS1 5 LIS3MDL 6 AK09916 7 IST8310 8 ICM20948 9 MMC3416 11 UAVCAN 12 QMC5883 14 MAG3110 15 IST8308

COMPASS_FLTR_RNG: Range in which sample is accepted

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

Increment	Range	Units
1	0 - 100	percent

COMPASS_AUTO_ROT: Automatically check orientation

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

Values
Value Meaning 0 Disabled 1 CheckOnly 2 CheckAndFix

COMPASS_PRIO1_ID: Compass device id with 1st order priority

Note: This parameter is for advanced users

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

RebootRequired
True

COMPASS_PRIO2_ID: Compass device id with 2nd order priority

Note: This parameter is for advanced users

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

RebootRequired
True

COMPASS_PRIO3_ID: Compass device id with 3rd order priority

Note: This parameter is for advanced users

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

RebootRequired
True

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
Value Meaning 0 Disabled 1 Enabled

COMPASS_SCALE: Compass1 scale factor

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

Range
0 - 1.3

COMPASS_SCALE2: Compass2 scale factor

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

Range
0 - 1.3

COMPASS_SCALE3: Compass3 scale factor

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

Range
0 - 1.3

COMPASS_OPTIONS: Compass options

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask
Bit Meaning 0 CalRequireGPS

COMPASS_DEV_ID4: Compass4 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID5: Compass5 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID6: Compass6 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID7: Compass7 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID8: Compass8 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_CUS_ROLL: Custom orientation roll offset

Note: This parameter is for advanced users

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	RebootRequired	Units
1	-180 - 180	True	degrees

COMPASS_CUS_PIT: Custom orientation pitch offset

Note: This parameter is for advanced users

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	RebootRequired	Units
1	-180 - 180	True	degrees

COMPASS_CUS_YAW: Custom orientation yaw offset

Note: This parameter is for advanced users

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	RebootRequired	Units
1	-180 - 180	True	degrees

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 - 2

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

EK2_ Parameters

EK2_ENABLE: Enable EKF2

Note: This parameter is for advanced users

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.

RebootRequired	Values
True	Value Meaning 0 Disabled 1 Enabled

EK2_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 5.0	meters per second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 5.0	meters per second

EK2_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

This sets the GPS horizontal position or external navigation system position observation noise. Increasing it reduces the weighting of GPS horizontal position or external navigation system position measurements.

Increment	Range	Units
0.1	0.1 - 10.0	meters

EK2_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK2_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 - 100	meters

EK2_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.

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

EK2_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 - 10.0	meters

EK2_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK2_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

Increment	Range	RebootRequired	Units
10	0 - 250	True	milliseconds

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 - 0.5	gauss

EK2_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states 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. 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 : 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 EK2_MAG_MASK parameter.

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

EK2_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 - 5.0	meters per second

EK2_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK2_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 - 10.0	meters

EK2_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK2_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	1.0 - 4.0	radians per second

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 1.0	radians per second

EK2_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

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	RebootRequired	Units
10	0 - 127	True	milliseconds

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.0001	0.0001 - 0.1	radians per second

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 - 1.0	meters per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 - 0.001	radians per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.000001 - 0.001	hertz

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 - 0.005	meters per cubic second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 - 1.0	meters per square second

EK2_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Increment	Range
0.1	0.0 - 1.0

EK2_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK2_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

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

EK2_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range	Units
50 - 200	percent

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range	Units
0.5 - 50.0	meters

EK2_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

This sets the IMU mask of sensors to do full logging for

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

EK2_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 1.0	radians

EK2_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

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

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 - 50	centiseconds

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 - 0.01	gauss per second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 - 0.01	gauss per second

EK2_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK2_ALT_SOURCE is not set to range finder. This is not for terrain following.

Increment	Range	Units
1	-1 - 70	percent

EK2_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 - 0.2

EK2_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 - 10.0	meters

EK2_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK2_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

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	RebootRequired	Units
10	0 - 127	True	milliseconds

EK2_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Increment	Range	Units
0.5	2.0 - 6.0	meters per second

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

Note: This parameter is for advanced users

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

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

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

EK2_EXTNAV_DELAY: external navigation system measurement delay (msec)

Note: This parameter is for advanced users

This is the number of msec that the external navigation system measurements lag behind the inertial measurements.

Increment	Range	RebootRequired	Units
1	0 - 127	True	milliseconds

EK2_FLOW_USE: Optical flow use bitmask

Note: This parameter is for advanced users

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

RebootRequired	Values
True	Value Meaning 0 None 1 Navigation 2 Terrain

EK2_MAG_EF_LIM: EarthField error limit

Note: This parameter is for advanced users

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

Range	Units
0 - 500	milligauss

EK2_HRT_FILT: Height rate filter crossover frequency

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

Range	RebootRequired	Units
0.1 - 30.0	False	hertz

EK3_ Parameters

EK3_ENABLE: Enable EKF3

Note: This parameter is for advanced users

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.

RebootRequired	Values
True	Value Meaning 0 Disabled 1 Enabled

EK3_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 5.0	meters per second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 5.0	meters per second

EK3_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 - 10.0	meters

EK3_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK3_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 - 100	meters

EK3_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.

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

EK3_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 - 10.0	meters

EK3_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK3_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

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

Increment	Range	RebootRequired	Units
10	0 - 250	True	milliseconds

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 - 0.5	gauss

EK3_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

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.

RebootRequired	Values
True	Value Meaning 0 When flying 1 When manoeuvring 2 Never 3 After first climb yaw reset 4 Always 5 Use external yaw sensor

EK3_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 - 5.0	meters per second

EK3_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK3_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 - 10.0	meters

EK3_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK3_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	1.0 - 4.0	radians per second

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 1.0	radians per second

EK3_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

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	RebootRequired	Units
10	0 - 250	True	milliseconds

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.0001	0.0001 - 0.1	radians per second

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 - 1.0	meters per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 - 0.001	radians per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 - 0.005	meters per cubic second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 - 1.0	meters per square second

EK3_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Increment	Range
0.1	0.0 - 1.0

EK3_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK3_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

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

EK3_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range	Units
50 - 200	percent

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range	Units
0.5 - 50.0	meters

EK3_LOG_MASK: EKF sensor logging IMU mask

Note: This parameter is for advanced users

This sets the IMU mask of sensors to do full logging for

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

EK3_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 1.0	radians

EK3_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

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

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 - 50	centiseconds

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 - 0.01	gauss per second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 - 0.01	gauss per second

EK3_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK3_ALT_SOURCE is not set to range finder. This is not for terrain following.

Increment	Range	Units
1	-1 - 70	percent

EK3_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 - 0.2

EK3_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 - 10.0	meters

EK3_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 - 1000

EK3_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

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

Increment	Range	RebootRequired	Units
10	0 - 250	True	milliseconds

EK3_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Increment	Range	Units
0.5	2.0 - 6.0	meters per second

EK3_ACC_BIAS_LIM: Accelerometer bias limit

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 - 2.5	meters per square second

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

Note: This parameter is for advanced users

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

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

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

EK3_VIS_VERR_MIN: Visual odometry minimum velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 - 0.5	meters per second

EK3_VIS_VERR_MAX: Visual odometry maximum velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 - 5.0	meters per second

EK3_WENC_VERR: Wheel odometry velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 - 1.0	meters per second

EK3_FLOW_USE: Optical flow use bitmask

Note: This parameter is for advanced users

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

RebootRequired	Values
True	Value Meaning 0 None 1 Navigation 2 Terrain

EK3_HRT_FILT: Height rate filter crossover frequency

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

Range	RebootRequired	Units
0.1 - 30.0	False	hertz

EK3_MAG_EF_LIM: EarthField error limit

Note: This parameter is for advanced users

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

Range	Units
0 - 500	milligauss

FENCE_ Parameters

FENCE_ENABLE: Fence enable/disable

Allows you to enable (1) or disable (0) the fence functionality

Values
Value Meaning 0 Disabled 1 Enabled

FENCE_TYPE: Fence Type

Enabled fence types held as bitmask

Bitmask	Values
Bit Meaning 0 Altitude 1 Circle 2 Polygon	Value Meaning 0 None 1 Altitude 2 Circle 3 Altitude and Circle 4 Polygon 5 Altitude and Polygon 6 Circle and Polygon 7 All

FENCE_ACTION: Fence Action

What action should be taken when fence is breached

Values
Value Meaning 0 Report Only 1 RTL or Land 2 Always Land 3 SmartRTL or RTL or Land 4 Brake or Land

FENCE_ALT_MAX: Fence Maximum Altitude

Maximum altitude allowed before geofence triggers

Increment	Range	Units
1	10 - 1000	meters

FENCE_RADIUS: Circular Fence Radius

Circle fence radius which when breached will cause an RTL

Range	Units
30 - 10000	meters

FENCE_MARGIN: Fence Margin

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

Range	Units
1 - 10	meters

FENCE_TOTAL: Fence polygon point total

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

Range
1 - 20

FENCE_ALT_MIN: Fence Minimum Altitude

Minimum altitude allowed before geofence triggers

Increment	Range	Units
1	-100 - 100	meters

FHLD Parameters

FHLD_XY_P: FlowHold P gain

Note: This parameter is for advanced users

FlowHold (horizontal) P gain.

Increment	Range
0.1	0.1 - 6.0

FHLD_XY_I: FlowHold I gain

Note: This parameter is for advanced users

FlowHold (horizontal) I gain

Increment	Range
0.01	0.02 - 1.00

FHLD_XY_IMAX: FlowHold Integrator Max

Note: This parameter is for advanced users

FlowHold (horizontal) integrator maximum

Increment	Range	Units
10	0 - 4500	centidegrees

FHLD_XY_FILT_HZ: FlowHold filter on input to control

Note: This parameter is for advanced users

FlowHold (horizontal) filter on input to control

Range	Units
0 - 100	hertz

FHLD_FLOW_MAX: FlowHold Flow Rate Max

Controls maximum apparent flow rate in flowhold

Range
0.1 - 2.5

FHLD_FILT_HZ: FlowHold Filter Frequency

Filter frequency for flow data

Range	Units
1 - 100	hertz

FHLD_QUAL_MIN: FlowHold Flow quality minimum

Minimum flow quality to use flow position hold

Range
0 - 255

FHLD_BRAKE_RATE: FlowHold Braking rate

Controls deceleration rate on stick release

Range	Units
1 - 30	degrees per second

FLOW Parameters

FLOW_TYPE: Optical flow sensor type

Optical flow sensor type

RebootRequired	Values
True	Value Meaning 0 None 1 PX4Flow 2 Pixart 3 Bebop 4 CXOF 5 MAVLink 6 UAVCAN

FLOW_FXSCALER: X axis optical flow scale factor correction

This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.

Increment	Range
1	-200 - +200

FLOW_FYSCALER: Y axis optical flow scale factor correction

This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.

Increment	Range
1	-200 - +200

FLOW_ORIENT_YAW: Flow sensor yaw alignment

Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.

Increment	Range
1	-18000 - +18000

FLOW_POS_X: X position offset

Note: This parameter is for advanced users

X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.

Range	Units
-10 - 10	meters

FLOW_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.

Range	Units
-10 - 10	meters

FLOW_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.

Range	Units
-10 - 10	meters

FLOW_ADDR: Address on the bus

Note: This parameter is for advanced users

This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.

Range
0 - 127

FLOW_ENABLE: Optical flow enable/disable

Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow

Values
Value Meaning 0 Disabled 1 Enabled

FOLL Parameters

FOLL_ENABLE: Follow enable/disable

Enabled/disable following a target

Values
Value Meaning 0 Disabled 1 Enabled

FOLL_SYSID: Follow target's mavlink system id

Follow target's mavlink system id

Range
0 - 255

FOLL_DIST_MAX: Follow distance maximum

Follow distance maximum. targets further than this will be ignored

Range	Units
1 - 1000	meters

FOLL_OFS_TYPE: Follow offset type

Follow offset type

Values
Value Meaning 0 North-East-Down 1 Relative to lead vehicle heading

FOLL_OFS_X: Follow offsets in meters north/forward

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

Increment	Range	Units
1	-100 - 100	meters

FOLL_OFS_Y: Follow offsets in meters east/right

Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE

Increment	Range	Units
1	-100 - 100	meters

FOLL_OFS_Z: Follow offsets in meters down

Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle

Increment	Range	Units
1	-100 - 100	meters

FOLL_YAW_BEHAVE: Follow yaw behaviour

Follow yaw behaviour

Values
Value Meaning 0 None 1 Face Lead Vehicle 2 Same as Lead vehicle 3 Direction of Flight

FOLL_POS_P: Follow position error P gain

Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

Increment	Range
0.01	0.01 - 1.00

FOLL_ALT_TYPE: Follow altitude type

Follow altitude type

Values
Value Meaning 0 absolute 1 relative

GND_ Parameters

GND_ABS_PRESS: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Increment	Units	Volatile
1	degrees Celsius	True

GND_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

Increment	Units
0.1	meters

GND_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

Values
Value Meaning 0 FirstBaro 1 2ndBaro 2 3rdBaro

GND_EXT_BUS: External baro bus

Note: This parameter is for advanced users

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

Values
Value Meaning -1 Disabled 0 Bus0 1 Bus1

GND_SPEC_GRAV: Specific Gravity (For water depth measurement)

This sets the specific gravity of the fluid when flying an underwater ROV.

Values
1.0:Freshwater,1.024:Saltwater

GND_ABS_PRESS2: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

GND_ABS_PRESS3: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

GND_FLTR_RNG: Range in which sample is accepted

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

Increment	Range	Units
1	0 - 100	percent

GND_PROBE_EXT: External barometers to probe

Note: This parameter is for advanced users

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

Bitmask	Values
Bit Meaning 0 BMP085 1 BMP280 2 MS5611 3 MS5607 4 MS5637 5 FBM320 6 DPS280 7 LPS25H 8 Keller 9 MS5837 10 BMP388	Value Meaning 1 BMP085 2 BMP280 4 MS5611 8 MS5607 16 MS5637 32 FBM320 64 DPS280 128 LPS25H 256 Keller 512 MS5837 1024 BMP388

GPS_ Parameters

GPS_TYPE: GPS type

Note: This parameter is for advanced users

GPS type

RebootRequired	Values
True	Value Meaning 0 None 1 AUTO 2 uBlox 3 MTK 4 MTK19 5 NMEA 6 SiRF 7 HIL 8 SwiftNav 9 UAVCAN 10 SBF 11 GSOF 13 ERB 14 MAV 15 NOVA 16 HemisphereNMEA 17 uBlox-MovingBaseline-Base 18 uBlox-MovingBaseline-Rover

GPS_TYPE2: 2nd GPS type

Note: This parameter is for advanced users

GPS type of 2nd GPS

RebootRequired	Values
True	Value Meaning 0 None 1 AUTO 2 uBlox 3 MTK 4 MTK19 5 NMEA 6 SiRF 7 HIL 8 SwiftNav 9 UAVCAN 10 SBF 11 GSOF 13 ERB 14 MAV 15 NOVA 16 HemisphereNMEA 17 uBlox-MovingBaseline-Base 18 uBlox-MovingBaseline-Rover

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

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

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock

Values
Value Meaning 0 Disabled 1 UseBest 2 Blend 3 UseSecond

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS

Note: This parameter is for advanced users

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

RebootRequired	Values
True	Value Meaning 0 Any 50 FloatRTK 100 IntegerRTK

GPS_SBAS_MODE: SBAS Mode

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled 2 NoChange

GPS_MIN_ELEV: Minimum elevation

Note: This parameter is for advanced users

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

Range	Units
-100 - 90	degrees

GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets

Note: This parameter is for advanced users

The GGS can send raw serial packets to inject data to multiple GPSes.

Values
Value Meaning 0 send to first GPS 1 send to 2nd GPS 127 send to all

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

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

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

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

Bitmask	Values
Bit Meaning 0 GPS 1 SBAS 2 Galileo 3 Beidou 4 IMES 5 QZSS 6 GLOSNASS	Value Meaning 0 Leave as currently configured 1 GPS-NoSBAS 3 GPS+SBAS 4 Galileo-NoSBAS 6 Galileo+SBAS 8 Beidou 51 GPS+IMES+QZSS+SBAS (Japan Only) 64 GLONASS 66 GLONASS+SBAS 67 GPS+GLONASS+SBAS

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

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

Bitmask	Values
Bit Meaning 0 GPS 1 SBAS 2 Galileo 3 Beidou 4 IMES 5 QZSS 6 GLOSNASS	Value Meaning 0 Leave as currently configured 1 GPS-NoSBAS 3 GPS+SBAS 4 Galileo-NoSBAS 6 Galileo+SBAS 8 Beidou 51 GPS+IMES+QZSS+SBAS (Japan Only) 64 GLONASS 66 GLONASS+SBAS 67 GPS+GLONASS+SBAS

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disables automatic configuration 1 Enable automatic configuration

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

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

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

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

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

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

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 - 5	meters

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users

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	RebootRequired	Units
0 - 250	True	milliseconds

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users

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	RebootRequired	Units
0 - 250	True	milliseconds

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 Horiz Pos 1 Vert Pos 2 Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

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

Range	Units
5.0 - 30.0	seconds

GPS_DRV_OPTIONS: driver options

Note: This parameter is for advanced users

Additional backend specific options

Bitmask
Bit Meaning 0 Use UART2 for moving baseline on ublox

GRIP_ Parameters

GRIP_ENABLE: Gripper Enable/Disable

Gripper enable/disable

Values
Value Meaning 0 Disabled 1 Enabled

GRIP_TYPE: Gripper Type

Gripper enable/disable

Values
Value Meaning 0 None 1 Servo 2 EPM

GRIP_GRAB: Gripper Grab PWM

Note: This parameter is for advanced users

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

Range	Units
1000 - 2000	PWM in microseconds

GRIP_RELEASE: Gripper Release PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range	Units
1000 - 2000	PWM in microseconds

GRIP_NEUTRAL: Neutral PWM

Note: This parameter is for advanced users

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

Range	Units
1000 - 2000	PWM in microseconds

GRIP_REGRAB: Gripper Regrab interval

Note: This parameter is for advanced users

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

Range	Units
0 - 255	seconds

GRIP_UAVCAN_ID: EPM UAVCAN Hardpoint ID

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

Range
0 - 255

H_ Parameters

H_TAIL_TYPE: Tail Type

Tail type selection. Simpler yaw controller used if external gyro is selected. Direct Drive Variable Pitch is used for tails that have a motor that is governed at constant speed by an ESC. Tail pitch is still accomplished with a servo. Direct Drive Fixed Pitch (DDFP) CW is used for helicopters with a rotor that spins clockwise when viewed from above. Direct Drive Fixed Pitch (DDFP) CCW is used for helicopters with a rotor that spins counter clockwise when viewed from above. In both DDFP cases, no servo is used for the tail and the tail motor esc is controlled by the yaw axis.

Values
Value Meaning 0 Servo only 1 Servo with ExtGyro 2 DirectDrive VarPitch 3 DirectDrive FixedPitch CW 4 DirectDrive FixedPitch CCW

H_GYR_GAIN: External Gyro Gain

PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro

Increment	Range	Units
1	0 - 1000	PWM in microseconds

H_COLYAW: Collective-Yaw Mixing

Feed-forward compensation to automatically add rudder input when collective pitch is increased. Can be positive or negative depending on mechanics.

Increment	Range
0.1	-10 - 10

H_FLYBAR_MODE: Flybar Mode Selector

Flybar present or not. Affects attitude controller used during ACRO flight mode

Values
Value Meaning 0 NoFlybar 1 Flybar

H_TAIL_SPEED: DDVP Tail ESC speed

Direct drive, variable pitch tail ESC speed in percent output to the tail motor esc (HeliTailRSC Servo) when motor interlock enabled (throttle hold off).

Increment	Range	Units
1	0 - 100	percent

H_GYR_GAIN_ACRO: ACRO External Gyro Gain

PWM in microseconds sent to external gyro on ch7 when tail type is Servo w/ ExtGyro. A value of zero means to use H_GYR_GAIN

Increment	Range	Units
1	0 - 1000	PWM in microseconds

H_SW_TYPE (AP_MotorsHeli_Single): Swashplate Type

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

Values
Value Meaning 0 H3 Generic 1 H1 non-CPPM 2 H3_140 3 H3_120 4 H4_90 5 H4_45

H_SW_COL_DIR (AP_MotorsHeli_Single): Collective Direction

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

Values
Value Meaning 0 Normal 1 Reversed

H_SW_LIN_SVO (AP_MotorsHeli_Single): Linearize Swash Servos

This linearizes the swashplate servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW_H3_ENABLE (AP_MotorsHeli_Single): H3 Generic Enable

Note: This parameter is for advanced users

Automatically set when H3 generic swash type is selected for swashplate. Do not set manually.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW_H3_SV1_POS (AP_MotorsHeli_Single): H3 Generic Servo 1 Position

Note: This parameter is for advanced users

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_SV2_POS (AP_MotorsHeli_Single): H3 Generic Servo 2 Position

Note: This parameter is for advanced users

Azimuth position on swashplate for servo 2 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_SV3_POS (AP_MotorsHeli_Single): H3 Generic Servo 3 Position

Note: This parameter is for advanced users

Azimuth position on swashplate for servo 3 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_PHANG (AP_MotorsHeli_Single): H3 Generic Phase Angle Comp

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Increment	Range	Units
1	-30 - 30	degrees

H_DUAL_MODE: Dual Mode

Sets the dual mode of the heli, either as tandem or as transverse.

Values
Value Meaning 0 Longitudinal 1 Transverse

H_DCP_SCALER: Differential-Collective-Pitch Scaler

Scaling factor applied to the differential-collective-pitch

Range
0 - 1

H_DCP_YAW: Differential-Collective-Pitch Yaw Mixing

Feed-forward compensation to automatically add yaw input when differential collective pitch is applied.

Increment	Range
0.1	-10 - 10

H_YAW_SCALER: Scaler for yaw mixing

Scaler for mixing yaw into roll or pitch.

Increment	Range
0.1	-10 - 10

H_COL2_MIN: Swash 2 Minimum Collective Pitch

Lowest possible servo position in PWM microseconds for swashplate 2

Increment	Range	Units
1	1000 - 2000	PWM in microseconds

H_COL2_MAX: Swash 2 Maximum Collective Pitch

Highest possible servo position in PWM microseconds for swashplate 2

Increment	Range	Units
1	1000 - 2000	PWM in microseconds

H_COL2_MID: Swash 2 Zero-Thrust Collective Pitch

Swash servo position in PWM microseconds corresponding to zero collective pitch for the rear swashplate (or zero lift for Asymmetrical blades)

Increment	Range	Units
1	1000 - 2000	PWM in microseconds

H_SW_TYPE (AP_MotorsHeli_Dual): Swash 1 Type

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

Values
Value Meaning 0 H3 Generic 1 H1 non-CPPM 2 H3_140 3 H3_120 4 H4_90 5 H4_45

H_SW_COL_DIR (AP_MotorsHeli_Dual): Swash 1 Collective Direction

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

Values
Value Meaning 0 Normal 1 Reversed

H_SW_LIN_SVO (AP_MotorsHeli_Dual): Linearize Swash 1 Servos

This linearizes the swashplate 1 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW_H3_ENABLE (AP_MotorsHeli_Dual): Swash 1 H3 Generic Enable

Note: This parameter is for advanced users

Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW_H3_SV1_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 1 Position

Note: This parameter is for advanced users

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_SV2_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 2 Position

Note: This parameter is for advanced users

Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_SV3_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 3 Position

Note: This parameter is for advanced users

Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW_H3_PHANG (AP_MotorsHeli_Dual): Swash 1 H3 Generic Phase Angle Comp

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Increment	Range	Units
1	-30 - 30	degrees

H_SW2_TYPE: Swash 2 Type

H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR

Values
Value Meaning 0 H3 Generic 1 H1 non-CPPM 2 H3_140 3 H3_120 4 H4_90 5 H4_45

H_SW2_COL_DIR: Swash 2 Collective Direction

Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed

Values
Value Meaning 0 Normal 1 Reversed

H_SW2_LIN_SVO: Linearize Swash 2 Servos

This linearizes the swashplate 2 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW2_H3_ENABLE: Swash 2 H3 Generic Enable

Note: This parameter is for advanced users

Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW2_H3_SV1_POS: Swash 2 H3 Generic Servo 1 Position

Note: This parameter is for advanced users

Azimuth position on swashplate for servo 1 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW2_H3_SV2_POS: Swash 2 H3 Generic Servo 2 Position

Note: This parameter is for advanced users

Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW2_H3_SV3_POS: Swash 2 H3 Generic Servo 3 Position

Note: This parameter is for advanced users

Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg

Range	Units
-180 - 180	degrees

H_SW2_H3_PHANG: Swash 2 H3 Generic Phase Angle Comp

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Increment	Range	Units
1	-30 - 30	degrees

H_DCP_TRIM: Differential Collective Pitch Trim

Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If DCP axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term.

Increment	Range
0.01	-0.2 - 0.2

H_COL_MIN: Minimum Collective Pitch

Lowest possible servo position in PWM microseconds for the swashplate

Increment	Range	Units
1	1000 - 2000	PWM in microseconds

H_COL_MAX: Maximum Collective Pitch

Highest possible servo position in PWM microseconds for the swashplate

Increment	Range	Units
1	1000 - 2000	PWM in microseconds

H_COL_MID: Zero-Thrust Collective Pitch

Swash servo position in PWM microseconds corresponding to zero collective pitch (or zero lift for Asymmetrical blades)

Increment	Range	Units
1	1000 - 2000	PWM in microseconds

H_SV_MAN: Manual Servo Mode

Manual servo override for swash set-up. Do not set this manually!

Values
Value Meaning 0 Disabled 1 Passthrough 2 Max collective 3 Mid collective 4 Min collective

H_CYC_MAX: Maximum Cyclic Pitch Angle

Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection.

Increment	Range
100	0 - 4500

H_SV_TEST: Boot-up Servo Test Cycles

Number of cycles to run servo test on boot-up

Increment	Range
1	0 - 10

H_COLL_HOVER: Collective Hover Value

Note: This parameter is for advanced users

Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX

Range
0.3 - 0.8

H_HOVER_LEARN: Hover Value Learning

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover collective

Values
Value Meaning 0 Disabled 1 Learn 2 Learn and Save

H_OPTIONS: Heli_Options

Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX.

Bitmask	Values
Bit Meaning 0 Use Leaky I	Value Meaning 0 I term management based landed state 1 Leaky I(4.0 and earlier)

H_RSC_ Parameters

H_RSC_SETPOINT: External Motor Governor Setpoint

Throttle (HeliRSC Servo) output in percent to the external motor governor when motor interlock enabled (throttle hold off).

Increment	Range	Units
1	0 - 100	percent

H_RSC_MODE: Rotor Speed Control Mode

Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off). RC Passthrough sends the input from the RC Motor Interlock channel as throttle output. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output. Governor is ArduCopter's built-in governor that uses the throttle curve for a feed forward throttle command to determine throttle output.

Values
Value Meaning 1 RC Passthrough 2 External Gov SetPoint 3 Throttle Curve 4 Governor

H_RSC_RAMP_TIME: Throttle Ramp Time

Time in seconds for throttle output (HeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off).

Range	Units
0 - 60	seconds

H_RSC_RUNUP_TIME: Rotor Runup Time

Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled (throttle hold off). Must be at least one second longer than the Throttle Ramp Time that is set with RSC_RAMP_TIME.

Range	Units
0 - 60	seconds

H_RSC_CRITICAL: Critical Rotor Speed

Percentage of normal rotor speed where flight is no longer possible. However currently the rotor runup/rundown is estimated using the RSC_RUNUP_TIME parameter. Estimated rotor speed increases/decreases between 0 (rotor stopped) to 1 (rotor at normal speed) in the RSC_RUNUP_TIME in seconds. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. So if you had a 10 second runup time then set RSC_CRITICAL to 70%.

Increment	Range	Units
1	0 - 100	percent

H_RSC_IDLE: Throttle Output at Idle

Throttle output (HeliRSC Servo) in percent while armed but motor interlock is disabled (throttle hold on). FOR COMBUSTION ENGINES. Sets the engine ground idle throttle percentage with clutch disengaged. This must be set to zero for electric helicopters under most situations. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC. Consult the operating manual for your ESC to set it properly for this purpose

Increment	Range	Units
1	0 - 50	percent

H_RSC_SLEWRATE: Throttle Slew Rate

This controls the maximum rate at which the throttle output (HeliRSC servo) can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate.

Increment	Range
10	0 - 500

H_RSC_THRCRV_0: Throttle Curve at 0% Coll

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 0 percent collective is defined by H_COL_MIN. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to -2 degree of pitch.

Increment	Range	Units
1	0 - 100	percent

H_RSC_THRCRV_25: Throttle Curve at 25% Coll

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 25% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 25% of 12 degrees is 3 degrees, so this setting would correspond to +1 degree of pitch.

Increment	Range	Units
1	0 - 100	percent

H_RSC_THRCRV_50: Throttle Curve at 50% Coll

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 50% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 50% of 12 degrees is 6 degrees, so this setting would correspond to +4 degree of pitch.

Increment	Range	Units
1	0 - 100	percent

H_RSC_THRCRV_75: Throttle Curve at 75% Coll

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 75% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 75% of 12 degrees is 9 degrees, so this setting would correspond to +7 degree of pitch.

Increment	Range	Units
1	0 - 100	percent

H_RSC_THRCRV_100: Throttle Curve at 100% Coll

Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to +10 degree of pitch.

Increment	Range	Units
1	0 - 100	percent

H_RSC_GOV_SETPNT: Rotor Governor Setpoint

Main rotor rpm setting that governor maintains when engaged. Set to the rotor rpm your helicopter runs in flight. When a speed sensor is installed the rotor governor maintains this speed. For governor operation this should be set 10 rpm higher than the actual desired headspeed to allow for governor droop

Increment	Range	Units
10	800 - 3500	Revolutions Per Minute

H_RSC_GOV_DISGAG: Governor Disengage Throttle

Percentage of throttle where the governor will disengage to allow return to flight idle power. Typically should be set to the same value as flight idle throttle (the very lowest throttle setting on the throttle curve). The governor disengage can be disabled by setting this value to zero and using the pull-down from the governor TCGAIN to reduce power to flight idle with the collective at it's lowest throttle setting on the throttle curve.

Increment	Range	Units
1	0 - 50	percent

H_RSC_GOV_DROOP: Governor Droop Response

Governor droop response under load, normal settings of 0-100%. Higher value is quicker response but may cause surging. Setting to zero disables the governor. Adjust this to be as aggressive as possible without getting surging or over-run on headspeed when the governor engages. Setting over 100% is allowable for some two-stage turbine engines to provide scheduling of the gas generator for proper torque response of the N2 spool

Increment	Range	Units
1	0 - 150	percent

H_RSC_GOV_TCGAIN: Governor Throttle Curve Gain

Percentage of throttle curve gain in governor output. This provides a type of feedforward response to sudden loading or unloading of the engine. If headspeed drops excessively during sudden heavy load, increase the throttle curve gain. If the governor runs with excessive droop more than 15 rpm lower than the speed setting, increase this setting until the governor runs at 8-10 rpm droop from the speed setting. The throttle curve must be properly tuned to fly the helicopter without the governor for this setting to work properly.

Increment	Range	Units
1	50 - 100	percent

H_RSC_GOV_RANGE: Governor Operational Range

RPM range +/- governor rpm reference setting where governor is operational. If speed sensor fails or rpm falls outside of this range, the governor will disengage and return to throttle curve. Recommended range is 100

Increment	Range	Units
10	50 - 200	Revolutions Per Minute

IM_ Parameters

IM_ACRO_COL_EXP: Acro Mode Collective Expo

Note: This parameter is for advanced users

Used to soften collective pitch inputs near center point in Acro mode.

Values
Value Meaning 0 Disabled 0.1 Very Low 0.2 Low 0.3 Medium 0.4 High 0.5 Very High

IM_STB_COL_1: Stabilize Collective Low

Helicopter's minimum collective pitch setting at zero collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

Increment	Range	Units
1	0 - 100	percent

IM_STB_COL_2: Stabilize Collective Mid-Low

Helicopter's collective pitch setting at mid-low (40%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

Increment	Range	Units
1	0 - 100	percent

IM_STB_COL_3: Stabilize Collective Mid-High

Helicopter's collective pitch setting at mid-high (60%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

Increment	Range	Units
1	0 - 100	percent

IM_STB_COL_4: Stabilize Collective High

Helicopter's maximum collective pitch setting at full collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

Increment	Range	Units
1	0 - 100	percent

INS_ Parameters

INS_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Units
radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis

Note: This parameter is for advanced users

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Range
0.8 - 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis

Note: This parameter is for advanced users

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

Range	Units
-3.5 - 3.5	meters per square second

INS_GYRO_FILTER: Gyro filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Range	Units
0 - 256	hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Range	Units
0 - 256	hertz

INS_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS_USE2: Use second IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS_USE3: Use third IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving

Note: This parameter is for advanced users

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

Range
0.05 - 50

INS_GYR_CAL: Gyro Calibration scheme

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values
Value Meaning 0 Never 1 Start-up only

INS_TRIM_OPTION: Accel cal trim option

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

Values
Value Meaning 0 Don’t adjust the trims 1 Assume first orientation was level 2 Assume ACC_BODYFIX is perfectly aligned to the vehicle

INS_ACC_BODYFIX: Body-fixed accelerometer

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

Values
Value Meaning 1 IMU 1 2 IMU 2 3 IMU 3

INS_POS1_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS1_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS1_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS2_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS2_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS2_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS3_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS3_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_POS3_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 - 10	meters

INS_GYR_ID: Gyro ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_GYR2_ID: Gyro2 ID

Note: This parameter is for advanced users

Gyro2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_GYR3_ID: Gyro3 ID

Note: This parameter is for advanced users

Gyro3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

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

ReadOnly
True

INS_ACC2_ID: Accelerometer2 ID

Note: This parameter is for advanced users

Accelerometer2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC3_ID: Accelerometer3 ID

Note: This parameter is for advanced users

Accelerometer3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_FAST_SAMPLE: Fast sampling mask

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

Bitmask	Values
Bit Meaning 0 FirstIMU 1 SecondIMU 2 ThirdIMU	Value Meaning 1 FirstIMUOnly 3 FirstAndSecondIMU

INS_ENABLE_MASK: IMU enable mask

Note: This parameter is for advanced users

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

Bitmask	Values
Bit Meaning 0 FirstIMU 1 SecondIMU 2 ThirdIMU	Value Meaning 1 FirstIMUOnly 3 FirstAndSecondIMU 7 FirstSecondAndThirdIMU 127 AllIMUs

INS_HNTCH_ Parameters

INS_HNTCH_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTCH_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.

Range	Units
10 - 495	hertz

INS_HNTCH_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Range	Units
5 - 250	hertz

INS_HNTCH_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Range	Units
5 - 50	decibel

INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.

Bitmask	RebootRequired
Bit Meaning 0 1st harmonic 1 2nd harmonic 2 3rd harmonic 3 4th hamronic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic	True

INS_HNTCH_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users

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	RebootRequired
0.0 - 1.0	True

INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor or ESC telemetry based. Throttle-based updates should only be used with multicopters.

Range	Values
0 - 3	Value Meaning 0 Disabled 1 Throttle 2 RPM Sensor 3 ESC Telemetry

INS_LOG_ Parameters

INS_LOG_BAT_CNT: sample count per batch

Note: This parameter is for advanced users

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	RebootRequired
32	True

INS_LOG_BAT_MASK: Sensor Bitmask

Note: This parameter is for advanced users

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

Bitmask	RebootRequired	Values
Bit Meaning 0 IMU1 1 IMU2 2 IMU3	True	Value Meaning 0 None 1 First IMU 255 All

INS_LOG_BAT_OPT: Batch Logging Options Mask

Note: This parameter is for advanced users

Options for the BatchSampler

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

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_NOTCH_ Parameters

INS_NOTCH_ENABLE: Enable

Note: This parameter is for advanced users

Enable notch filter

Values
Value Meaning 0 Disabled 1 Enabled

INS_NOTCH_ATT: Attenuation

Note: This parameter is for advanced users

Notch attenuation in dB

Range	Units
5 - 30	decibel

INS_NOTCH_FREQ: Frequency

Note: This parameter is for advanced users

Notch center frequency in Hz

Range	Units
10 - 400	hertz

INS_NOTCH_BW: Bandwidth

Note: This parameter is for advanced users

Notch bandwidth in Hz

Range	Units
5 - 100	hertz

LGR_ Parameters

LGR_STARTUP: Landing Gear Startup position

Landing Gear Startup behaviour control

Values
Value Meaning 0 WaitForPilotInput 1 Retract 2 Deploy

LGR_DEPLOY_PIN: Chassis deployment feedback pin

Pin number to use for detection of gear deployment. If set to -1 feedback is disabled.

RebootRequired	Values
True	Value Meaning -1 Disabled 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6

LGR_DEPLOY_POL: Chassis deployment feedback pin polarity

Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.

Values
Value Meaning 0 Low 1 High

LGR_WOW_PIN: Weight on wheels feedback pin

Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled.

RebootRequired	Values
True	Value Meaning -1 Disabled 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6

LGR_WOW_POL: Weight on wheels feedback pin polarity

Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.

Values
Value Meaning 0 Low 1 High

LGR_DEPLOY_ALT: Landing gear deployment altitude

Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.

Increment	Range	Units
1	0 - 1000	meters

LGR_RETRACT_ALT: Landing gear retract altitude

Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.

Increment	Range	Units
1	0 - 1000	meters

LGR_OPTIONS: Landing gear auto retract/deploy options

Options to retract or deploy landing gear in Auto or Guided mode

Bitmask	Values
Bit Meaning 0 Retract after Takeoff 1 Deploy during Land	Value Meaning 1 Retract after Takeoff 2 Deploy during Land 3 Retract after Takeoff AND deploy during Land

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	Values
Bit Meaning 0 File 1 MAVLink 2 Block	Value Meaning 0 None 1 File 2 MAVLink 3 File and MAVLink 4 Block 6 Block and MAVLink

LOG_FILE_BUFSIZE: Maximum AP_Logger File Backend buffer size (in kilobytes)

The AP_Logger_File backend uses 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 while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues

Values
Value Meaning 0 Disabled 1 Enabled

LOG_REPLAY: Enable logging of information needed for Replay

If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost

Values
Value Meaning 0 Disabled 1 Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened.

Values
Value Meaning 0 Disabled 1 Enabled

LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size

Note: This parameter is for advanced users

Maximum amount of memory to allocate to AP_Logger-over-mavlink

Units
kilobytes

LOG_FILE_TIMEOUT: Timeout before giving up on file writes

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

Units
seconds

LOIT_ Parameters

LOIT_ANG_MAX: Loiter Angle Max

Note: This parameter is for advanced users

Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX

Increment	Range	Units
1	0 - 45	degrees

LOIT_SPEED: Loiter Horizontal Maximum Speed

Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode

Increment	Range	Units
50	20 - 2000	centimeters per second

LOIT_ACC_MAX: Loiter maximum correction acceleration

Note: This parameter is for advanced users

Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.

Increment	Range	Units
1	100 - 981	centimeters per square second

LOIT_BRK_ACCEL: Loiter braking acceleration

Note: This parameter is for advanced users

Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.

Increment	Range	Units
1	25 - 250	centimeters per square second

LOIT_BRK_JERK: Loiter braking jerk

Note: This parameter is for advanced users

Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.

Increment	Range	Units
1	500 - 5000	centimeters per cubic second

LOIT_BRK_DELAY: Loiter brake start delay (in seconds)

Note: This parameter is for advanced users

Loiter brake start delay (in seconds)

Increment	Range	Units
0.1	0 - 2	seconds

MIS_ Parameters

MIS_TOTAL: Total mission commands

Note: This parameter is for advanced users

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

Increment	Range	ReadOnly
1	0 - 32766	True

MIS_RESTART: Mission Restart when entering Auto mode

Note: This parameter is for advanced users

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

Values
Value Meaning 0 Resume Mission 1 Restart Mission

MIS_OPTIONS: Mission options bitmask

Note: This parameter is for advanced users

Bitmask of what options to use in missions.

Bitmask
Bit Meaning 0 Clear Mission on reboot

MNT Parameters

MNT_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

Values
Value Meaning 0 Retracted 1 Neutral 2 MavLink Targeting 3 RC Targeting 4 GPS Point

MNT_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position

Mount tilt/pitch angle when in retracted position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position

Mount yaw/pan angle when in retracted position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position

Mount tilt/pitch angle when in neutral position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position

Mount pan/yaw angle when in neutral position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT_STAB_ROLL: Stabilize mount's roll angle

enable roll stabilisation relative to Earth

Values
Value Meaning 0 Disabled 1 Enabled

MNT_STAB_TILT: Stabilize mount's pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

Values
Value Meaning 0 Disabled 1 Enabled

MNT_STAB_PAN: Stabilize mount pan/yaw angle

enable pan/yaw stabilisation relative to Earth

Values
Value Meaning 0 Disabled 1 Enabled

MNT_RC_IN_ROLL: roll RC input channel

0 for none, any other for the RC channel to be used to control roll movements

Values
Value Meaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 9 RC9 10 RC10 11 RC11 12 RC12

MNT_ANGMIN_ROL: Minimum roll angle

Minimum physical roll angular position of mount.

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT_ANGMAX_ROL: Maximum roll angle

Maximum physical roll angular position of the mount

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT_RC_IN_TILT: tilt (pitch) RC input channel

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

Values
Value Meaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 9 RC9 10 RC10 11 RC11 12 RC12

MNT_ANGMIN_TIL: Minimum tilt angle

Minimum physical tilt (pitch) angular position of mount.

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT_ANGMAX_TIL: Maximum tilt angle

Maximum physical tilt (pitch) angular position of the mount

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT_RC_IN_PAN: pan (yaw) RC input channel

0 for none, any other for the RC channel to be used to control pan (yaw) movements

Values
Value Meaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 9 RC9 10 RC10 11 RC11 12 RC12

MNT_ANGMIN_PAN: Minimum pan angle

Minimum physical pan (yaw) angular position of mount.

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT_ANGMAX_PAN: Maximum pan angle

Maximum physical pan (yaw) angular position of the mount

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT_JSTICK_SPD: mount joystick speed

0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.

Increment	Range
1	0 - 100

MNT_LEAD_RLL: Roll stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.

Increment	Range	Units
.005	0.0 - 0.2	seconds

MNT_LEAD_PTCH: Pitch stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.

Increment	Range	Units
.005	0.0 - 0.2	seconds

MNT_TYPE: Mount Type

Mount Type (None, Servo or MAVLink)

RebootRequired	Values
True	Value Meaning 0 None 1 Servo 2 3DR Solo 3 Alexmos Serial 4 SToRM32 MAVLink 5 SToRM32 Serial

MNT2_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

Values
Value Meaning 0 Retracted 1 Neutral 2 MavLink Targeting 3 RC Targeting 4 GPS Point

MNT2_RETRACT_X: Mount2 roll angle when in retracted position

Mount2 roll angle when in retracted position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position

Mount2 tilt/pitch angle when in retracted position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position

Mount2 yaw/pan angle when in retracted position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position

Mount2 roll angle when in neutral position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position

Mount2 tilt/pitch angle when in neutral position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position

Mount2 pan/yaw angle when in neutral position

Increment	Range	Units
1	-180.00 - 179.99	degrees

MNT2_STAB_ROLL: Stabilize Mount2's roll angle

enable roll stabilisation relative to Earth

Values
Value Meaning 0 Disabled 1 Enabled

MNT2_STAB_TILT: Stabilize Mount2's pitch/tilt angle

enable tilt/pitch stabilisation relative to Earth

Values
Value Meaning 0 Disabled 1 Enabled

MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle

enable pan/yaw stabilisation relative to Earth

Values
Value Meaning 0 Disabled 1 Enabled

MNT2_RC_IN_ROLL: Mount2's roll RC input channel

0 for none, any other for the RC channel to be used to control roll movements

Values
Value Meaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 9 RC9 10 RC10 11 RC11 12 RC12

MNT2_ANGMIN_ROL: Mount2's minimum roll angle

Mount2's minimum physical roll angular position

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT2_ANGMAX_ROL: Mount2's maximum roll angle

Mount2's maximum physical roll angular position

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT2_RC_IN_TILT: Mount2's tilt (pitch) RC input channel

0 for none, any other for the RC channel to be used to control tilt (pitch) movements

Values
Value Meaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 9 RC9 10 RC10 11 RC11 12 RC12

MNT2_ANGMIN_TIL: Mount2's minimum tilt angle

Mount2's minimum physical tilt (pitch) angular position

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT2_ANGMAX_TIL: Mount2's maximum tilt angle

Mount2's maximum physical tilt (pitch) angular position

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT2_RC_IN_PAN: Mount2's pan (yaw) RC input channel

0 for none, any other for the RC channel to be used to control pan (yaw) movements

Values
Value Meaning 0 Disabled 5 RC5 6 RC6 7 RC7 8 RC8 9 RC9 10 RC10 11 RC11 12 RC12

MNT2_ANGMIN_PAN: Mount2's minimum pan angle

Mount2's minimum physical pan (yaw) angular position

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT2_ANGMAX_PAN: Mount2's maximum pan angle

MOunt2's maximum physical pan (yaw) angular position

Increment	Range	Units
1	-18000 - 17999	centidegrees

MNT2_LEAD_RLL: Mount2's Roll stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.

Increment	Range	Units
.005	0.0 - 0.2	seconds

MNT2_LEAD_PTCH: Mount2's Pitch stabilization lead time

Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.

Increment	Range	Units
.005	0.0 - 0.2	seconds

MNT2_TYPE: Mount2 Type

Mount Type (None, Servo or MAVLink)

Values
Value Meaning 0 None 1 Servo 2 3DR Solo 3 Alexmos Serial 4 SToRM32 MAVLink 5 SToRM32 Serial

MOT_ Parameters

MOT_YAW_HEADROOM: Matrix Yaw Min

Note: This parameter is for advanced users

Yaw control is given at least this pwm in microseconds range

Range	Units
0 - 500	PWM in microseconds

MOT_THST_EXPO: Thrust Curve Expo

Note: This parameter is for advanced users

Motor thrust curve exponent (from 0 for linear to 1.0 for second order curve)

Range
0.25 - 0.8

MOT_SPIN_MAX: Motor Spin maximum

Note: This parameter is for advanced users

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

Values
0.9:Low, 0.95:Default, 1.0:High

MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage

Note: This parameter is for advanced users

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.4 * cell count, 0 = Disabled

Range	Units
6 - 35	volt

MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage

Note: This parameter is for advanced users

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled

Range	Units
6 - 35	volt

MOT_BAT_CURR_MAX: Motor Current Max

Note: This parameter is for advanced users

Maximum current over which maximum throttle is limited (0 = Disabled)

Range	Units
0 - 200	ampere

MOT_PWM_TYPE: Output PWM type

Note: This parameter is for advanced users

This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output

RebootRequired	Values
True	Value Meaning 0 Normal 1 OneShot 2 OneShot125 3 Brushed 4 DShot150 5 DShot300 6 DShot600 7 DShot1200

MOT_PWM_MIN: PWM output miniumum

Note: This parameter is for advanced users

This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN

Range	Units
0 - 2000	PWM in microseconds

MOT_PWM_MAX: PWM output maximum

Note: This parameter is for advanced users

This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX

Range	Units
0 - 2000	PWM in microseconds

MOT_SPIN_MIN: Motor Spin minimum

Note: This parameter is for advanced users

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

Values
0.0:Low, 0.15:Default, 0.3:High

MOT_SPIN_ARM: Motor Spin armed

Note: This parameter is for advanced users

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

Values
0.0:Low, 0.1:Default, 0.2:High

MOT_BAT_CURR_TC: Motor Current Max Time Constant

Note: This parameter is for advanced users

Time constant used to limit the maximum current

Range	Units
0 - 10	seconds

MOT_THST_HOVER: Thrust Hover Value

Note: This parameter is for advanced users

Motor thrust needed to hover expressed as a number from 0 to 1

Range
0.2 - 0.8

MOT_HOVER_LEARN: Hover Value Learning

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover throttle

Values
Value Meaning 0 Disabled 1 Learn 2 Learn and Save

MOT_SAFE_DISARM: Motor PWM output disabled when disarmed

Note: This parameter is for advanced users

Disables motor PWM output when disarmed

Values
Value Meaning 0 PWM enabled while disarmed 1 PWM disabled while disarmed

MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle

Yaw servo's maximum lean angle

Increment	Range	Units
1	5 - 80	degrees

MOT_SPOOL_TIME: Spool up time

Note: This parameter is for advanced users

Time in seconds to spool up the motors from zero to min throttle.

Increment	Range	Units
0.1	0 - 2	seconds

MOT_BOOST_SCALE: Motor boost scale

Note: This parameter is for advanced users

Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

Increment	Range
0.1	0 - 5

MOT_BAT_IDX: Battery compensation index

Note: This parameter is for advanced users

Which battery monitor should be used for doing compensation

Values
Value Meaning 0 First battery 1 Second battery

MOT_SLEW_UP_TIME: Output slew time for increasing throttle

Note: This parameter is for advanced users

Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Increment	Range	Units
0.001	0 - .5	seconds

MOT_SLEW_DN_TIME: Output slew time for decreasing throttle

Note: This parameter is for advanced users

Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Increment	Range	Units
0.001	0 - .5	seconds

MOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.

Note: This parameter is for advanced users

Time taken to disable and enable the motor PWM output when disarmed and armed.

Increment	Range	Units
0.001	0 - 5	seconds

NTF_ Parameters

NTF_LED_BRIGHT: LED Brightness

Note: This parameter is for advanced users

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

Values
Value Meaning 0 Off 1 Low 2 Medium 3 High

NTF_BUZZ_ENABLE: Buzzer enable

Note: This parameter is for advanced users

Enable or disable the buzzer.

Values
Value Meaning 0 Disable 1 Enable

NTF_LED_OVERRIDE: Specifies colour source for the RGBLed

Note: This parameter is for advanced users

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

Values
Value Meaning 0 Standard 1 MAVLink 2 OutbackChallenge 3 TrafficLight

NTF_DISPLAY_TYPE: Type of on-board I2C display

Note: This parameter is for advanced users

This sets up the type of on-board I2C display. Disabled by default.

Values
Value Meaning 0 Disable 1 ssd1306 2 sh1106 10 SITL

NTF_OREO_THEME: OreoLED Theme

Note: This parameter is for advanced users

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

Values
Value Meaning 0 Disabled 1 Aircraft 2 Rover

NTF_BUZZ_PIN: Buzzer pin

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!

Values
Value Meaning 0 Disabled

NTF_LED_TYPES: LED Driver Types

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Bitmask
Bit Meaning 0 Build in LED 1 Internal ToshibaLED 2 External ToshibaLED 3 External PCA9685 4 Oreo LED 5 UAVCAN 6 NCP5623 External 7 NCP5623 Internal 8 NeoPixel 9 ProfiLED

NTF_BUZZ_ON_LVL: Buzzer-on pin logic level

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Values
Value Meaning 0 LowIsOn 1 HighIsOn

NTF_BUZZ_VOLUME: Buzzer volume

Enable or disable the buzzer.

Range	Units
0 - 100	percent

NTF_LED_LEN: Serial LED String Length

Note: This parameter is for advanced users

The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)

Range
1 - 32

OA_ Parameters

OA_TYPE: Object Avoidance Path Planning algorithm to use

Enabled/disable path planning around obstacles

Values
Value Meaning 0 Disabled 1 BendyRuler 2 Dijkstra

OA_LOOKAHEAD: Object Avoidance look ahead distance maximum

Object Avoidance will look this many meters ahead of vehicle

Increment	Range	Units
1	1 - 100	meters

OA_MARGIN_MAX: Object Avoidance wide margin distance

Object Avoidance will ignore objects more than this many meters from vehicle

Increment	Range	Units
1	0.1 - 100	meters

OA_DB_ Parameters

OA_DB_SIZE: OADatabase maximum number of points

Note: This parameter is for advanced users

OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process

Range	RebootRequired
0 - 10000	True

OA_DB_EXPIRE: OADatabase item timeout

Note: This parameter is for advanced users

OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.

Increment	Range	Units
1	0 - 127	seconds

OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points

Note: This parameter is for advanced users

OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.

Range	RebootRequired
1 - 200	True

OA_DB_OUTPUT: OADatabase output level

Note: This parameter is for advanced users

OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.

Values
Value Meaning 0 Disabled 1 Send only HIGH importance items 2 Send HIGH and NORMAL importance items 3 Send all items

OA_DB_BEAM_WIDTH: OADatabase beam width

Note: This parameter is for advanced users

Beam width of incoming lidar data

Range	RebootRequired	Units
1 - 10	True	degrees

OA_DB_RADIUS_MIN: OADatabase Minimum radius

Note: This parameter is for advanced users

Minimum radius of objects held in database

Range	Units
0 - 10	meters

OA_DB_DIST_MAX: OADatabase Distance Maximum

Note: This parameter is for advanced users

Maximum distance of objects held in database. Set to zero to disable the limits

Range	Units
0 - 10	meters

OSD Parameters

OSD_TYPE: OSD type

OSD type

RebootRequired	Values
True	Value Meaning 0 None 1 MAX7456

OSD_CHAN: Screen switch transmitter channel

This sets the channel used to switch different OSD screens.

Values
Value Meaning 0 Disable 5 Chan5 6 Chan6 7 Chan7 8 Chan8 9 Chan9 10 Chan10 11 Chan11 12 Chan12 13 Chan13 14 Chan14 15 Chan15 16 Chan16

OSD_OPTIONS: OSD Options

This sets options that change the display

Bitmask
Bit Meaning 0 UseDecimalPack 1 InvertedWindPointer 2 InvertedAHRoll

OSD_FONT: OSD Font

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

RebootRequired
True

OSD_V_OFFSET: OSD vertical offset

Sets vertical offset of the osd inside image

Range	RebootRequired
0 - 31	True

OSD_H_OFFSET: OSD horizontal offset

Sets horizontal offset of the osd inside image

Range	RebootRequired
0 - 63	True

OSD_W_RSSI: RSSI warn level (in %)

Set level at which RSSI item will flash

Range
0 - 99

OSD_W_NSAT: NSAT warn level

Set level at which NSAT item will flash

Range
1 - 30

OSD_W_BATVOLT: BAT_VOLT warn level

Set level at which BAT_VOLT item will flash

Range
0 - 100

OSD_UNITS: Display Units

Sets the units to use in displaying items

Values
Value Meaning 0 Metric 1 Imperial 2 SI 3 Aviation

OSD_MSG_TIME: Message display duration in seconds

Sets message duration seconds

Range
1 - 20

OSD_ARM_SCR: Arm screen

Screen to be shown on Arm event. Zero to disable the feature.

Range
0 - 4

OSD_DSARM_SCR: Disarm screen

Screen to be shown on disarm event. Zero to disable the feature.

Range
0 - 4

OSD_FS_SCR: Failsafe screen

Screen to be shown on failsafe event. Zero to disable the feature.

Range
0 - 4

OSD1_ Parameters

OSD1_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD1_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD1_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 - 29

OSD1_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 - 15

OSD1_BATVOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BATVOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 - 29

OSD1_BATVOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 - 15

OSD1_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 - 29

OSD1_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 - 15

OSD1_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 - 29

OSD1_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 - 15

OSD1_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 - 29

OSD1_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 - 15

OSD1_SATS_EN: SATS_EN

Displays number of acquired sattelites

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_SATS_X: SATS_X

Horizontal position on screen

Range
0 - 29

OSD1_SATS_Y: SATS_Y

Vertical position on screen

Range
0 - 15

OSD1_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 - 29

OSD1_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 - 15

OSD1_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 - 29

OSD1_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 - 15

OSD1_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 - 29

OSD1_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 - 15

OSD1_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 - 29

OSD1_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 - 15

OSD1_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HOME_X: HOME_X

Horizontal position on screen

Range
0 - 29

OSD1_HOME_Y: HOME_Y

Vertical position on screen

Range
0 - 15

OSD1_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 - 29

OSD1_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 - 15

OSD1_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 - 29

OSD1_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 - 15

OSD1_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 - 29

OSD1_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 - 15

OSD1_WIND_EN: WIND_EN

Displays wind speed and relative direction

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_WIND_X: WIND_X

Horizontal position on screen

Range
0 - 29

OSD1_WIND_Y: WIND_Y

Vertical position on screen

Range
0 - 15

OSD1_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 - 29

OSD1_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 - 15

OSD1_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 - 29

OSD1_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 - 15

OSD1_BLHTEMP_EN: BLHTEMP_EN

Displays first esc's temp

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BLHTEMP_X: BLHTEMP_X

Horizontal position on screen

Range
0 - 29

OSD1_BLHTEMP_Y: BLHTEMP_Y

Vertical position on screen

Range
0 - 15

OSD1_BLHRPM_EN: BLHRPM_EN

Displays first esc's rpm

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BLHRPM_X: BLHRPM_X

Horizontal position on screen

Range
0 - 29

OSD1_BLHRPM_Y: BLHRPM_Y

Vertical position on screen

Range
0 - 15

OSD1_BLHAMPS_EN: BLHAMPS_EN

Displays first esc's current

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BLHAMPS_X: BLHAMPS_X

Horizontal position on screen

Range
0 - 29

OSD1_BLHAMPS_Y: BLHAMPS_Y

Vertical position on screen

Range
0 - 15

OSD1_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 - 29

OSD1_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 - 15

OSD1_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 - 29

OSD1_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 - 15

OSD1_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 - 29

OSD1_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 - 15

OSD1_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 - 29

OSD1_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 - 15

OSD1_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 - 29

OSD1_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 - 15

OSD1_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 - 29

OSD1_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 - 15

OSD1_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 - 29

OSD1_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 - 15

OSD1_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 - 29

OSD1_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 - 15

OSD1_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_DIST_X: DIST_X

Horizontal position on screen

Range
0 - 29

OSD1_DIST_Y: DIST_Y

Vertical position on screen

Range
0 - 15

OSD1_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_STATS_X: STATS_X

Horizontal position on screen

Range
0 - 29

OSD1_STATS_Y: STATS_Y

Vertical position on screen

Range
0 - 15

OSD1_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 - 29

OSD1_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 - 15

OSD1_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 - 29

OSD1_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 - 15

OSD1_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_EFF_X: EFF_X

Horizontal position on screen

Range
0 - 29

OSD1_EFF_Y: EFF_Y

Vertical position on screen

Range
0 - 15

OSD1_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 - 29

OSD1_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 - 15

OSD1_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 - 29

OSD1_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 - 15

OSD1_BAT2VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BAT2VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 - 29

OSD1_BAT2VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 - 15

OSD1_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 - 29

OSD1_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 - 15

OSD1_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 - 29

OSD1_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 - 15

OSD1_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 - 29

OSD1_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 - 15

OSD1_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CLK_X: CLK_X

Horizontal position on screen

Range
0 - 29

OSD1_CLK_Y: CLK_Y

Vertical position on screen

Range
0 - 15

OSD2_ Parameters

OSD2_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD2_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD2_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 - 29

OSD2_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 - 15

OSD2_BATVOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BATVOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 - 29

OSD2_BATVOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 - 15

OSD2_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 - 29

OSD2_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 - 15

OSD2_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 - 29

OSD2_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 - 15

OSD2_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 - 29

OSD2_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 - 15

OSD2_SATS_EN: SATS_EN

Displays number of acquired sattelites

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_SATS_X: SATS_X

Horizontal position on screen

Range
0 - 29

OSD2_SATS_Y: SATS_Y

Vertical position on screen

Range
0 - 15

OSD2_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 - 29

OSD2_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 - 15

OSD2_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 - 29

OSD2_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 - 15

OSD2_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 - 29

OSD2_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 - 15

OSD2_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 - 29

OSD2_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 - 15

OSD2_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HOME_X: HOME_X

Horizontal position on screen

Range
0 - 29

OSD2_HOME_Y: HOME_Y

Vertical position on screen

Range
0 - 15

OSD2_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 - 29

OSD2_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 - 15

OSD2_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 - 29

OSD2_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 - 15

OSD2_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 - 29

OSD2_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 - 15

OSD2_WIND_EN: WIND_EN

Displays wind speed and relative direction

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_WIND_X: WIND_X

Horizontal position on screen

Range
0 - 29

OSD2_WIND_Y: WIND_Y

Vertical position on screen

Range
0 - 15

OSD2_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 - 29

OSD2_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 - 15

OSD2_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 - 29

OSD2_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 - 15

OSD2_BLHTEMP_EN: BLHTEMP_EN

Displays first esc's temp

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BLHTEMP_X: BLHTEMP_X

Horizontal position on screen

Range
0 - 29

OSD2_BLHTEMP_Y: BLHTEMP_Y

Vertical position on screen

Range
0 - 15

OSD2_BLHRPM_EN: BLHRPM_EN

Displays first esc's rpm

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BLHRPM_X: BLHRPM_X

Horizontal position on screen

Range
0 - 29

OSD2_BLHRPM_Y: BLHRPM_Y

Vertical position on screen

Range
0 - 15

OSD2_BLHAMPS_EN: BLHAMPS_EN

Displays first esc's current

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BLHAMPS_X: BLHAMPS_X

Horizontal position on screen

Range
0 - 29

OSD2_BLHAMPS_Y: BLHAMPS_Y

Vertical position on screen

Range
0 - 15

OSD2_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 - 29

OSD2_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 - 15

OSD2_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 - 29

OSD2_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 - 15

OSD2_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 - 29

OSD2_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 - 15

OSD2_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 - 29

OSD2_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 - 15

OSD2_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 - 29

OSD2_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 - 15

OSD2_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 - 29

OSD2_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 - 15

OSD2_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 - 29

OSD2_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 - 15

OSD2_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 - 29

OSD2_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 - 15

OSD2_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_DIST_X: DIST_X

Horizontal position on screen

Range
0 - 29

OSD2_DIST_Y: DIST_Y

Vertical position on screen

Range
0 - 15

OSD2_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_STATS_X: STATS_X

Horizontal position on screen

Range
0 - 29

OSD2_STATS_Y: STATS_Y

Vertical position on screen

Range
0 - 15

OSD2_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 - 29

OSD2_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 - 15

OSD2_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 - 29

OSD2_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 - 15

OSD2_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_EFF_X: EFF_X

Horizontal position on screen

Range
0 - 29

OSD2_EFF_Y: EFF_Y

Vertical position on screen

Range
0 - 15

OSD2_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 - 29

OSD2_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 - 15

OSD2_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 - 29

OSD2_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 - 15

OSD2_BAT2VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BAT2VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 - 29

OSD2_BAT2VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 - 15

OSD2_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 - 29

OSD2_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 - 15

OSD2_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 - 29

OSD2_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 - 15

OSD2_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 - 29

OSD2_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 - 15

OSD2_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CLK_X: CLK_X

Horizontal position on screen

Range
0 - 29

OSD2_CLK_Y: CLK_Y

Vertical position on screen

Range
0 - 15

OSD3_ Parameters

OSD3_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD3_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD3_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 - 29

OSD3_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 - 15

OSD3_BATVOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BATVOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 - 29

OSD3_BATVOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 - 15

OSD3_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 - 29

OSD3_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 - 15

OSD3_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 - 29

OSD3_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 - 15

OSD3_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 - 29

OSD3_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 - 15

OSD3_SATS_EN: SATS_EN

Displays number of acquired sattelites

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_SATS_X: SATS_X

Horizontal position on screen

Range
0 - 29

OSD3_SATS_Y: SATS_Y

Vertical position on screen

Range
0 - 15

OSD3_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 - 29

OSD3_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 - 15

OSD3_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 - 29

OSD3_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 - 15

OSD3_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 - 29

OSD3_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 - 15

OSD3_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 - 29

OSD3_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 - 15

OSD3_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HOME_X: HOME_X

Horizontal position on screen

Range
0 - 29

OSD3_HOME_Y: HOME_Y

Vertical position on screen

Range
0 - 15

OSD3_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 - 29

OSD3_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 - 15

OSD3_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 - 29

OSD3_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 - 15

OSD3_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 - 29

OSD3_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 - 15

OSD3_WIND_EN: WIND_EN

Displays wind speed and relative direction

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_WIND_X: WIND_X

Horizontal position on screen

Range
0 - 29

OSD3_WIND_Y: WIND_Y

Vertical position on screen

Range
0 - 15

OSD3_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 - 29

OSD3_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 - 15

OSD3_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 - 29

OSD3_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 - 15

OSD3_BLHTEMP_EN: BLHTEMP_EN

Displays first esc's temp

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BLHTEMP_X: BLHTEMP_X

Horizontal position on screen

Range
0 - 29

OSD3_BLHTEMP_Y: BLHTEMP_Y

Vertical position on screen

Range
0 - 15

OSD3_BLHRPM_EN: BLHRPM_EN

Displays first esc's rpm

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BLHRPM_X: BLHRPM_X

Horizontal position on screen

Range
0 - 29

OSD3_BLHRPM_Y: BLHRPM_Y

Vertical position on screen

Range
0 - 15

OSD3_BLHAMPS_EN: BLHAMPS_EN

Displays first esc's current

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BLHAMPS_X: BLHAMPS_X

Horizontal position on screen

Range
0 - 29

OSD3_BLHAMPS_Y: BLHAMPS_Y

Vertical position on screen

Range
0 - 15

OSD3_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 - 29

OSD3_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 - 15

OSD3_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 - 29

OSD3_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 - 15

OSD3_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 - 29

OSD3_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 - 15

OSD3_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 - 29

OSD3_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 - 15

OSD3_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 - 29

OSD3_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 - 15

OSD3_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 - 29

OSD3_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 - 15

OSD3_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 - 29

OSD3_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 - 15

OSD3_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 - 29

OSD3_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 - 15

OSD3_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_DIST_X: DIST_X

Horizontal position on screen

Range
0 - 29

OSD3_DIST_Y: DIST_Y

Vertical position on screen

Range
0 - 15

OSD3_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_STATS_X: STATS_X

Horizontal position on screen

Range
0 - 29

OSD3_STATS_Y: STATS_Y

Vertical position on screen

Range
0 - 15

OSD3_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 - 29

OSD3_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 - 15

OSD3_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 - 29

OSD3_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 - 15

OSD3_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_EFF_X: EFF_X

Horizontal position on screen

Range
0 - 29

OSD3_EFF_Y: EFF_Y

Vertical position on screen

Range
0 - 15

OSD3_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 - 29

OSD3_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 - 15

OSD3_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 - 29

OSD3_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 - 15

OSD3_BAT2VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BAT2VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 - 29

OSD3_BAT2VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 - 15

OSD3_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 - 29

OSD3_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 - 15

OSD3_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 - 29

OSD3_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 - 15

OSD3_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 - 29

OSD3_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 - 15

OSD3_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CLK_X: CLK_X

Horizontal position on screen

Range
0 - 29

OSD3_CLK_Y: CLK_Y

Vertical position on screen

Range
0 - 15

OSD4_ Parameters

OSD4_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 - 2100

OSD4_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 - 2100

OSD4_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 - 29

OSD4_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 - 15

OSD4_BATVOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BATVOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 - 29

OSD4_BATVOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 - 15

OSD4_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 - 29

OSD4_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 - 15

OSD4_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 - 29

OSD4_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 - 15

OSD4_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 - 29

OSD4_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 - 15

OSD4_SATS_EN: SATS_EN

Displays number of acquired sattelites

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_SATS_X: SATS_X

Horizontal position on screen

Range
0 - 29

OSD4_SATS_Y: SATS_Y

Vertical position on screen

Range
0 - 15

OSD4_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 - 29

OSD4_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 - 15

OSD4_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 - 29

OSD4_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 - 15

OSD4_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 - 29

OSD4_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 - 15

OSD4_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 - 29

OSD4_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 - 15

OSD4_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HOME_X: HOME_X

Horizontal position on screen

Range
0 - 29

OSD4_HOME_Y: HOME_Y

Vertical position on screen

Range
0 - 15

OSD4_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 - 29

OSD4_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 - 15

OSD4_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 - 29

OSD4_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 - 15

OSD4_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 - 29

OSD4_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 - 15

OSD4_WIND_EN: WIND_EN

Displays wind speed and relative direction

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_WIND_X: WIND_X

Horizontal position on screen

Range
0 - 29

OSD4_WIND_Y: WIND_Y

Vertical position on screen

Range
0 - 15

OSD4_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 - 29

OSD4_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 - 15

OSD4_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 - 29

OSD4_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 - 15

OSD4_BLHTEMP_EN: BLHTEMP_EN

Displays first esc's temp

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BLHTEMP_X: BLHTEMP_X

Horizontal position on screen

Range
0 - 29

OSD4_BLHTEMP_Y: BLHTEMP_Y

Vertical position on screen

Range
0 - 15

OSD4_BLHRPM_EN: BLHRPM_EN

Displays first esc's rpm

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BLHRPM_X: BLHRPM_X

Horizontal position on screen

Range
0 - 29

OSD4_BLHRPM_Y: BLHRPM_Y

Vertical position on screen

Range
0 - 15

OSD4_BLHAMPS_EN: BLHAMPS_EN

Displays first esc's current

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BLHAMPS_X: BLHAMPS_X

Horizontal position on screen

Range
0 - 29

OSD4_BLHAMPS_Y: BLHAMPS_Y

Vertical position on screen

Range
0 - 15

OSD4_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 - 29

OSD4_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 - 15

OSD4_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 - 29

OSD4_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 - 15

OSD4_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 - 29

OSD4_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 - 15

OSD4_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 - 29

OSD4_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 - 15

OSD4_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 - 29

OSD4_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 - 15

OSD4_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 - 29

OSD4_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 - 15

OSD4_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 - 29

OSD4_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 - 15

OSD4_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 - 29

OSD4_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 - 15

OSD4_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_DIST_X: DIST_X

Horizontal position on screen

Range
0 - 29

OSD4_DIST_Y: DIST_Y

Vertical position on screen

Range
0 - 15

OSD4_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_STATS_X: STATS_X

Horizontal position on screen

Range
0 - 29

OSD4_STATS_Y: STATS_Y

Vertical position on screen

Range
0 - 15

OSD4_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 - 29

OSD4_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 - 15

OSD4_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 - 29

OSD4_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 - 15

OSD4_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_EFF_X: EFF_X

Horizontal position on screen

Range
0 - 29

OSD4_EFF_Y: EFF_Y

Vertical position on screen

Range
0 - 15

OSD4_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 - 29

OSD4_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 - 15

OSD4_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 - 29

OSD4_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 - 15

OSD4_BAT2VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BAT2VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 - 29

OSD4_BAT2VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 - 15

OSD4_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 - 29

OSD4_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 - 15

OSD4_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 - 29

OSD4_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 - 15

OSD4_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 - 29

OSD4_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 - 15

OSD4_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CLK_X: CLK_X

Horizontal position on screen

Range
0 - 29

OSD4_CLK_Y: CLK_Y

Vertical position on screen

Range
0 - 15

PLND_ Parameters

PLND_ENABLED: Precision Land enabled/disabled and behaviour

Note: This parameter is for advanced users

Precision Land enabled/disabled and behaviour

Values
Value Meaning 0 Disabled 1 Enabled

PLND_TYPE: Precision Land Type

Note: This parameter is for advanced users

Precision Land Type

Values
Value Meaning 0 None 1 CompanionComputer 2 IRLock 3 SITL_Gazebo 4 SITL

PLND_YAW_ALIGN: Sensor yaw alignment

Note: This parameter is for advanced users

Yaw angle from body x-axis to sensor x-axis.

Increment	Range	Units
1	0 - 360	centidegrees

PLND_LAND_OFS_X: Land offset forward

Note: This parameter is for advanced users

Desired landing position of the camera forward of the target in vehicle body frame

Increment	Range	Units
1	-20 - 20	centimeters

PLND_LAND_OFS_Y: Land offset right

Note: This parameter is for advanced users

desired landing position of the camera right of the target in vehicle body frame

Increment	Range	Units
1	-20 - 20	centimeters

PLND_EST_TYPE: Precision Land Estimator Type

Note: This parameter is for advanced users

Specifies the estimation method to be used

Values
Value Meaning 0 RawSensor 1 KalmanFilter

PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise

Note: This parameter is for advanced users

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

Range
0.5 - 5

PLND_CAM_POS_X: Camera X position offset

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Units
meters

PLND_CAM_POS_Y: Camera Y position offset

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Units
meters

PLND_CAM_POS_Z: Camera Z position offset

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Units
meters

PLND_BUS: Sensor Bus

Note: This parameter is for advanced users

Precland sensor bus for I2C sensors.

Values
Value Meaning -1 DefaultBus 0 InternalI2C 1 ExternalI2C

PLND_LAG: Precision Landing sensor lag

Note: This parameter is for advanced users

Precision Landing sensor lag, to cope with variable landing_target latency

Increment	Range	RebootRequired	Units
1	0.02 - 0.250	True	seconds

PRX Parameters

PRX_TYPE: Proximity type

What type of proximity sensor is connected

RebootRequired	Values
True	Value Meaning 0 None 7 LightwareSF40c 1 LightWareSF40C-legacy 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 10 SITL 11 MorseSITL 12 AirSimSITL

PRX_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 - 180	degrees

PRX_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 - 360	degrees

PRX_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 - 45	degrees

PRX_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 - 360	degrees

PRX_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 - 45	degrees

PRX_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 - 360	degrees

PRX_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 - 45	degrees

PRX_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 - 360	degrees

PRX_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 - 45	degrees

PRX_IGN_ANG5: Proximity sensor ignore angle 5

Proximity sensor ignore angle 5

Range	Units
0 - 360	degrees

PRX_IGN_WID5: Proximity sensor ignore width 5

Proximity sensor ignore width 5

Range	Units
0 - 45	degrees

PRX_IGN_ANG6: Proximity sensor ignore angle 6

Proximity sensor ignore angle 6

Range	Units
0 - 360	degrees

PRX_IGN_WID6: Proximity sensor ignore width 6

Proximity sensor ignore width 6

Range	Units
0 - 45	degrees

PRX2_TYPE: Second Proximity type

Note: This parameter is for advanced users

What type of proximity sensor is connected

RebootRequired	Values
True	Value Meaning 0 None 7 LightwareSF40c 1 LightWareSF40C-legacy 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 10 SITL 11 MorseSITL 12 AirSimSITL

PRX2_ORIENT: Second Proximity sensor orientation

Second Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX2_YAW_CORR: Second Proximity sensor yaw correction

Second Proximity sensor yaw correction

Range	Units
-180 - 180	degrees

PSC Parameters

PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency

Note: This parameter is for advanced users

Lower values will slow the response of the navigation controller and reduce twitchiness

Increment	Range	Units
0.1	0.5 - 5	hertz

PSC_POSZ_P: Position (vertical) controller P gain

Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller

Range
1.000 - 3.000

PSC_VELZ_P: Velocity (vertical) controller P gain

Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

Range
1.000 - 8.000

PSC_ACCZ_P: Acceleration (vertical) controller P gain

Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output

Increment	Range
0.05	0.500 - 1.500

PSC_ACCZ_I: Acceleration (vertical) controller I gain

Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration

Range
0.000 - 3.000

PSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum

Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate

Range	Units
0 - 1000	decipercent

PSC_ACCZ_D: Acceleration (vertical) controller D gain

Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration

Range
0.000 - 0.400

PSC_ACCZ_FF: Acceleration (vertical) controller feed forward

Acceleration (vertical) controller feed forward

Increment	Range
0.001	0 - 0.5

PSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz

Acceleration (vertical) controller target frequency in Hz

Increment	Range	Units
1	1 - 50	hertz

PSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz

Acceleration (vertical) controller error frequency in Hz

Increment	Range	Units
1	1 - 100	hertz

PSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz

Acceleration (vertical) controller derivative frequency in Hz

Increment	Range	Units
1	1 - 100	hertz

PSC_POSXY_P: Position (horizontal) controller P gain

Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller

Range
0.500 - 2.000

PSC_VELXY_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

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

Increment	Range
0.1	0.1 - 6.0

PSC_VELXY_I: Velocity (horizontal) I gain

Note: This parameter is for advanced users

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

Increment	Range
0.01	0.02 - 1.00

PSC_VELXY_D: Velocity (horizontal) D gain

Note: This parameter is for advanced users

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

Increment	Range
0.001	0.00 - 1.00

PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum

Note: This parameter is for advanced users

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

Increment	Range	Units
10	0 - 4500	centimeters per square second

PSC_VELXY_FILT: Velocity (horizontal) input filter

Note: This parameter is for advanced users

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

Range	Units
0 - 100	hertz

PSC_VELXY_D_FILT: Velocity (horizontal) input filter

Note: This parameter is for advanced users

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

Range	Units
0 - 100	hertz

PSC_ANGLE_MAX: Position Control Angle Max

Note: This parameter is for advanced users

Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value

Increment	Range	Units
1	0 - 45	degrees

RALLY_ Parameters

RALLY_TOTAL: Rally Total

Note: This parameter is for advanced users

Number of rally points currently loaded

RALLY_LIMIT_KM: Rally Limit

Note: This parameter is for advanced users

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

Increment	Units
0.1	kilometers

RALLY_INCL_HOME: Rally Include Home

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

Values
Value Meaning 0 DoNotIncludeHome 1 IncludeHome

RC Parameters

RC_OVERRIDE_TIME: RC override timeout

Note: This parameter is for advanced users

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

Range	Units
0.0 - 120.0	seconds

RC_OPTIONS: RC options

Note: This parameter is for advanced users

RC input options

Bitmask
Bit Meaning 0 Ignore RC Receiver 1 Ignore MAVLink Overrides 2 Ignore Receiver Failsafe

RC10_ Parameters

RC10_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC10_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC10_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC10_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC10_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC10_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC11_ Parameters

RC11_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC11_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC11_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC11_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC11_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC11_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC12_ Parameters

RC12_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC12_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC12_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC12_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC12_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC12_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC13_ Parameters

RC13_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC13_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC13_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC13_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC13_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC13_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC14_ Parameters

RC14_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC14_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC14_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC14_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC14_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC14_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC15_ Parameters

RC15_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC15_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC15_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC15_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC15_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC15_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC16_ Parameters

RC16_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC16_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC16_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC16_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC16_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC16_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC1_ Parameters

RC1_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC1_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC1_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC1_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC1_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC1_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC2_ Parameters

RC2_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC2_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC2_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC2_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC2_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC2_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC3_ Parameters

RC3_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC3_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC3_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC3_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC3_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC3_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC4_ Parameters

RC4_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC4_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC4_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC4_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC4_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC4_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC5_ Parameters

RC5_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC5_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC5_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC5_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC5_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC5_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC6_ Parameters

RC6_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC6_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC6_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC6_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC6_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC6_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC7_ Parameters

RC7_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC7_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC7_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC7_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC7_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC7_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC8_ Parameters

RC8_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC8_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC8_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC8_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC8_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC8_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RC9_ Parameters

RC9_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC9_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC9_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 - 2200	PWM in microseconds

RC9_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC9_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 - 200	PWM in microseconds

RC9_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount 28 Relay On/Off 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 37 Throw 38 ADSB-Avoidance 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm 42 SmartRTL 43 InvertedFlight 44 Winch Enable 45 WinchControl 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 67 Relay6 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle

RCMAP_ Parameters

RCMAP_ROLL: Roll channel

Note: This parameter is for advanced users

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	RebootRequired
1	1 - 8	True

RCMAP_PITCH: Pitch channel

Note: This parameter is for advanced users

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	RebootRequired
1	1 - 8	True

RCMAP_THROTTLE: Throttle channel

Note: This parameter is for advanced users

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. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended. Reboot is required for changes to take effect.

Increment	Range	RebootRequired
1	1 - 8	True

RCMAP_YAW: Yaw channel

Note: This parameter is for advanced users

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	RebootRequired
1	1 - 8	True

RCMAP_FORWARD: Forward channel

Note: This parameter is for advanced users

Forward channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Forward is normally on channel 5, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Increment	Range	RebootRequired	Values
1	1 - 8	True	1: 1, 2: 2, 3: 3, 4: 4, 5: 5, 6: 6, 7: 7, 8: 8

RCMAP_LATERAL: Lateral channel

Note: This parameter is for advanced users

Lateral channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Lateral is normally on channel 6, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.

Increment	Range	RebootRequired	Values
1	1 - 8	True	1: 1, 2: 2, 3: 3, 4: 4, 5: 5, 6: 6, 7: 7, 8: 8

RELAY_ Parameters

RELAY_PIN: First Relay Pin

Digital pin number for first relay control. This is the pin used for camera control.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5

RELAY_PIN2: Second Relay Pin

Digital pin number for 2nd relay control.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5

RELAY_PIN3: Third Relay Pin

Digital pin number for 3rd relay control.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5

RELAY_PIN4: Fourth Relay Pin

Digital pin number for 4th relay control.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5

RELAY_DEFAULT: Default relay state

The state of the relay on boot.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY_PIN5: Fifth Relay Pin

Digital pin number for 5th relay control.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5

RELAY_PIN6: Sixth Relay Pin

Digital pin number for 6th relay control.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5

RNGFND1_ Parameters

RNGFND1_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND1_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND1_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND1_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND1_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND1_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND1_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND1_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND1_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND1_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND1_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND1_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND1_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND1_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND1_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND1_ Parameters

RNGFND1_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND1_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND1_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND1_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND1_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND1_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND2_ Parameters

RNGFND2_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND2_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND2_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND2_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND2_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND2_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND2_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND2_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND2_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND2_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND2_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND2_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND2_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND2_ Parameters

RNGFND2_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND2_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND2_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND2_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND2_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND2_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND3_ Parameters

RNGFND3_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND3_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND3_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND3_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND3_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND3_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND3_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND3_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND3_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND3_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND3_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND3_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND3_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND3_ Parameters

RNGFND3_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND3_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND3_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND3_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND3_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND3_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND4_ Parameters

RNGFND4_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND4_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND4_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND4_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND4_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND4_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND4_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND4_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND4_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND4_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND4_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND4_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND4_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND4_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND4_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND4_ Parameters

RNGFND4_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND4_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND4_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND4_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND4_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND4_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND5_ Parameters

RNGFND5_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND5_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND5_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND5_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND5_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND5_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND5_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND5_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND5_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND5_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND5_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND5_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND5_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND5_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND5_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND5_ Parameters

RNGFND5_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND5_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND5_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND5_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND5_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND5_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND6_ Parameters

RNGFND6_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND6_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND6_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND6_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND6_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND6_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND6_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND6_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND6_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND6_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND6_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND6_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND6_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND6_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND6_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND6_ Parameters

RNGFND6_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND6_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND6_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND6_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND6_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND6_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND7_ Parameters

RNGFND7_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND7_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND7_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND7_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND7_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND7_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND7_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND7_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND7_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND7_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND7_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND7_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND7_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND7_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND7_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND7_ Parameters

RNGFND7_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND7_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND7_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND7_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND7_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND7_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND8_ Parameters

RNGFND8_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND8_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND8_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND8_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND8_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND8_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND8_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND8_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND8_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND8_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND8_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND8_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND8_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND8_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND8_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND8_ Parameters

RNGFND8_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND8_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND8_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND8_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND8_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND8_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND9_ Parameters

RNGFND9_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFND9_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFND9_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND9_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND9_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND9_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND9_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND9_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND9_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND9_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFND9_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFND9_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND9_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND9_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFND9_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND9_ Parameters

RNGFND9_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND9_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND9_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND9_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND9_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND9_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFNDA_ Parameters

RNGFNDA_TYPE: Rangefinder type

What type of rangefinder device that is connected

Values
Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 uLanding 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 UAVCAN 25 BenewakeTFminiPlus-I2C 27 BenewakeTF03

RNGFNDA_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values
Value Meaning -1 Not Used 11 PX4-airspeed port 15 Pixhawk-airspeed port 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6

RNGFNDA_SCALING: Rangefinder scaling

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFNDA_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFNDA_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFNDA_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFNDA_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFNDA_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values
Value Meaning -1 Not Used 50 Pixhawk AUXOUT1 51 Pixhawk AUXOUT2 52 Pixhawk AUXOUT3 53 Pixhawk AUXOUT4 54 Pixhawk AUXOUT5 55 Pixhawk AUXOUT6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFNDA_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFNDA_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground

This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
1	5 - 127	centimeters

RNGFNDA_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses. A value of 0 disables the sensor.

Increment	Range
1	0 - 127

RNGFNDA_POS_X: X position offset

Note: This parameter is for advanced users

X position of the first rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFNDA_POS_Y: Y position offset

Note: This parameter is for advanced users

Y position of the first rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Units
meters

RNGFNDA_POS_Z: Z position offset

Note: This parameter is for advanced users

Z position of the first rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Units
meters

RNGFNDA_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFNDA_ Parameters

RNGFNDA_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFNDA_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFNDA_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFNDA_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFNDA_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFNDA_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RPM Parameters

RPM_TYPE: RPM type

What type of RPM sensor is connected

Values
Value Meaning 0 None 1 PWM 2 AUXPIN

RPM_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM_MAX: Maximum RPM

Maximum RPM to report

Increment
1

RPM_MIN: Minimum RPM

Minimum RPM to report

Increment
1

RPM_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM_PIN: Input pin number

Which pin to use

Values
Value Meaning -1 Disabled 50 PixhawkAUX1 51 PixhawkAUX2 52 PixhawkAUX3 53 PixhawkAUX4 54 PixhawkAUX5 55 PixhawkAUX6

RPM2_TYPE: Second RPM type

Note: This parameter is for advanced users

What type of RPM sensor is connected

Values
Value Meaning 0 None 1 PWM 2 AUXPIN

RPM2_SCALING: RPM scaling

Note: This parameter is for advanced users

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM2_PIN: RPM2 input pin number

Which pin to use

Values
Value Meaning -1 Disabled 50 PixhawkAUX1 51 PixhawkAUX2 52 PixhawkAUX3 53 PixhawkAUX4 54 PixhawkAUX5 55 PixhawkAUX6

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
Value Meaning 0 Disabled 1 AnalogPin 2 RCChannelPwmValue 3 ReceiverProtocol 4 PWMInputPin

RSSI_ANA_PIN: Receiver RSSI sensing pin

Pin used to read the RSSI voltage or PWM value

Values
Value Meaning 8 V5 Nano 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6 15 Pixhawk2 ADC 50 PixhawkAUX1 51 PixhawkAUX2 52 PixhawkAUX3 53 PixhawkAUX4 54 PixhawkAUX5 55 PixhawkAUX6 103 Pixhawk SBUS

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

Increment	Range	Units
0.01	0 - 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

Increment	Range	Units
0.01	0 - 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 - 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 - 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 - 2000	PWM in microseconds

SCHED_ Parameters

SCHED_DEBUG: Scheduler debug level

Note: This parameter is for advanced users

Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

Values
Value Meaning 0 Disabled 2 ShowSlips 3 ShowOverruns

SCHED_LOOP_RATE: Scheduling main loop rate

Note: This parameter is for advanced users

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.

RebootRequired	Values
True	Value Meaning 50 50Hz 100 100Hz 200 200Hz 250 250Hz 300 300Hz 400 400Hz

SCR_ Parameters

SCR_ENABLE: Enable Scripting

Note: This parameter is for advanced users

Controls if scripting is enabled

RebootRequired	Values
True	Value Meaning 0 None 1 Lua Scripts

SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count

Note: This parameter is for advanced users

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

Increment	Range
10000	1000 - 1000000

SCR_HEAP_SIZE: Scripting Heap Size

Note: This parameter is for advanced users

Amount of memory available for scripting

Increment	Range	RebootRequired
1024	1024 - 1048576	True

SERIAL Parameters

SERIAL0_BAUD: Serial0 baud rate

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 256 256000 460 460800 500 500000 921 921600 1500 1500000

SERIAL0_PROTOCOL: Console protocol selection

Control what protocol to use on the console.

RebootRequired	Values
True	Value Meaning 1 MAVlink1 2 MAVLink2

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.

RebootRequired	Values
True	Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 SToRM32 Gimbal Serial 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN

SERIAL1_BAUD: Telem1 Baud Rate

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 256 256000 500 500000 921 921600 1500 1500000

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.

RebootRequired	Values
True	Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 SToRM32 Gimbal Serial 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN

SERIAL2_BAUD: Telemetry 2 Baud Rate

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 256 256000 500 500000 921 921600 1500 1500000

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.

RebootRequired	Values
True	Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 SToRM32 Gimbal Serial 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN

SERIAL3_BAUD: Serial 3 (GPS) Baud Rate

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 256 256000 500 500000 921 921600 1500 1500000

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.

RebootRequired	Values
True	Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 SToRM32 Gimbal Serial 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN

SERIAL4_BAUD: Serial 4 Baud Rate

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 256 256000 500 500000 921 921600 1500 1500000

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.

RebootRequired	Values
True	Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 SToRM32 Gimbal Serial 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN

SERIAL5_BAUD: Serial 5 Baud Rate

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 256 256000 500 500000 921 921600 1500 1500000

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.

RebootRequired	Values
True	Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 SToRM32 Gimbal Serial 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN

SERIAL6_BAUD: Serial 6 Baud Rate

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 256 256000 500 500000 921 921600 1500 1500000

SERIAL1_OPTIONS: Telem1 options

Note: This parameter is for advanced users

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	RebootRequired
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 4 Swap	True

SERIAL2_OPTIONS: Telem2 options

Note: This parameter is for advanced users

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.

Bitmask	RebootRequired
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 4 Swap	True

SERIAL3_OPTIONS: Serial3 options

Note: This parameter is for advanced users

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.

Bitmask	RebootRequired
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 4 Swap	True

SERIAL4_OPTIONS: Serial4 options

Note: This parameter is for advanced users

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.

Bitmask	RebootRequired
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 4 Swap	True

SERIAL5_OPTIONS: Serial5 options

Note: This parameter is for advanced users

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.

Bitmask	RebootRequired
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 4 Swap	True

SERIAL6_OPTIONS: Serial6 options

Note: This parameter is for advanced users

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.

Bitmask	RebootRequired
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 4 Swap	True

SERIAL_PASS1: Serial passthru first port

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

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

SERIAL_PASS2: Serial passthru second port

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

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

SERIAL_PASSTIMO: Serial passthru timeout

Note: This parameter is for advanced users

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.

Range	Units
0 - 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.

RebootRequired	Values
True	Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 SToRM32 Gimbal Serial 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN

SERIAL7_BAUD: Serial 7 Baud Rate

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 256 256000 500 500000 921 921600 1500 1500000

SERIAL7_OPTIONS: Serial7 options

Note: This parameter is for advanced users

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.

Bitmask	RebootRequired
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 4 Swap	True

SERVO Parameters

SERVO_AUTO_TRIM: Automatic servo trim

Note: This parameter is for advanced users

This enables automatic servo trim in flight. Servos will be trimed in stabilized flight modes when the aircraft is close to level. Changes to servo trim will be saved every 10 seconds and will persist between flights.

Values
Value Meaning 0 Disable 1 Enable

SERVO_RATE: Servo default output rate

Note: This parameter is for advanced users

This sets the default output rate in Hz for all outputs.

Range	Units
25 - 400	hertz

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO10_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO10_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO11_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO11_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO12_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO12_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO13_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO13_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO14_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO14_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO15_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO15_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO16_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO16_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO1_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO1_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO2_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO2_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO3_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO3_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO4_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO4_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO5_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO5_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO6_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO6_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO7_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO7_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO8_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO8_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

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	500 - 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 - 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 - 2200	PWM in microseconds

SERVO9_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO9_FUNCTION: Servo output function

Function assigned to this servo. Seeing this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value Meaning 0 Disabled 1 RCPassThru 2 Flap 3 Flap_auto 4 Aileron 6 mount_pan 7 mount_tilt 8 mount_roll 9 mount_open 10 camera_trigger 11 release 12 mount2_pan 13 mount2_tilt 14 mount2_roll 15 mount2_open 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 MotorTilt 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 68 Choke 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 tiltMotorLeft 76 tiltMotorRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 89 Main Sail 90 Camera ISO 91 Camera Focus 92 Camera Shutter Speed 94 Script 1 95 Script 2 96 Script 3 97 Script 4 98 Script 5 99 Script 6 100 Script 7 101 Script 8 102 Script 9 103 Script 10 104 Script 11 105 Script 12 106 Script 13 107 Script 14 108 Script 15 109 Script 16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 129 ProfiLED 1 130 ProfiLED 2 131 ProfiLED 3 132 ProfiLED Clock

SERVO_BLH_ Parameters

SERVO_BLH_MASK: BLHeli Channel Bitmask

Note: This parameter is for advanced users

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

SERVO_BLH_AUTO: BLHeli auto-enable for multicopter motors

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

Values
Value Meaning 0 Disabled 1 Enabled

SERVO_BLH_TEST: BLHeli internal interface test

Note: This parameter is for advanced users

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

Values
Value Meaning 0 Disabled 1 TestMotor1 2 TestMotor2 3 TestMotor3 4 TestMotor4 5 TestMotor5 6 TestMotor6 7 TestMotor7 8 TestMotor8

SERVO_BLH_TMOUT: BLHeli protocol timeout

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

Range	Units
0 - 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 - 500	hertz

SERVO_BLH_DEBUG: BLHeli debug level

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

Values
Value Meaning 0 Disabled 1 Enabled

SERVO_BLH_OTYPE: BLHeli output type override

Note: This parameter is for advanced users

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

Values
Value Meaning 0 None 1 OneShot 2 OneShot125 3 Brushed 4 DShot150 5 DShot300 6 DShot600 7 DShot1200

SERVO_BLH_PORT: Control port

Note: This parameter is for advanced users

This sets the serial port to use for blheli pass-thru

Values
Value Meaning 0 Console 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5

SERVO_BLH_POLES: BLHeli Motor Poles

Note: This parameter is for advanced users

This allows calculation of true RPM from ESC's eRPM. The default is 14.

Range
1 - 127

SERVO_BLH_REMASK: BLHeli bitmask of reversible channels

Note: This parameter is for advanced users

Mask of channels which are reversible. This is used for ESCs which have been configured in '3D' mode, allowing for the motor to spin in either direction

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

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 - 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 - 4095

SERVO_SBUS_ Parameters

SERVO_SBUS_RATE: SBUS default output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz.

Range	Units
25 - 250	hertz

SERVO_VOLZ_ Parameters

SERVO_VOLZ_MASK: Channel Bitmask

Enable of volz servo protocol to specific channels

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

SID Parameters

SID_AXIS: System identification axis

Controls which axis are being excited. Set to non-zero to see more parameters

Values
Value Meaning 0 None 1 Input Roll Angle 2 Input Pitch Angle 3 Input Yaw Angle 4 Recovery Roll Angle 5 Recovery Pitch Angle 6 Recovery Yaw Angle 7 Rate Roll 8 Rate Pitch 9 Rate Yaw 10 Mixer Roll 11 Mixer Pitch 12 Mixer Yaw 13 Mixer Thrust

SID_MAGNITUDE: System identification Chirp Magnitude

Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.

SID_F_START_HZ: System identification Start Frequency

Frequency at the start of the sweep

Range	Units
0.01 - 100	hertz

SID_F_STOP_HZ: System identification Stop Frequency

Frequency at the end of the sweep

Range	Units
0.01 - 100	hertz

SID_T_FADE_IN: System identification Fade in time

Time to reach maximum amplitude of sweep

Range	Units
0 - 20	seconds

SID_T_REC: System identification Total Sweep length

Time taken to complete the sweep

Range	Units
0 - 255	seconds

SID_T_FADE_OUT: System identification Fade out time

Time to reach zero amplitude at the end of the sweep

Range	Units
0 - 5	seconds

SPRAY_ Parameters

SPRAY_ENABLE: Sprayer enable/disable

Allows you to enable (1) or disable (0) the sprayer

Values
Value Meaning 0 Disabled 1 Enabled

SPRAY_PUMP_RATE: Pump speed

Desired pump speed when traveling 1m/s expressed as a percentage

Range	Units
0 - 100	percent

SPRAY_SPINNER: Spinner rotation speed

Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)

Range	Units
1000 - 2000	milliseconds

SPRAY_SPEED_MIN: Speed minimum

Speed minimum at which we will begin spraying

Range	Units
0 - 1000	centimeters per second

SPRAY_PUMP_MIN: Pump speed minimum

Minimum pump speed expressed as a percentage

Range	Units
0 - 100	percent

SR0_ Parameters

SR0_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

Increment	Range	Units
1	0 - 10	hertz

SR0_EXT_STAT: Extended status stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, POWER_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 - 10	hertz

SR0_RC_CHAN: RC Channel stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

Increment	Range	Units
1	0 - 10	hertz

SR0_RAW_CTRL: Raw Control stream rate to ground station

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Increment	Range	Units
1	0 - 10	hertz

SR0_POSITION: Position stream rate to ground station

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

Increment	Range	Units
1	0 - 10	hertz

SR0_EXTRA1: Extra data type 1 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

Increment	Range	Units
1	0 - 10	hertz

SR0_EXTRA2: Extra data type 2 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Increment	Range	Units
1	0 - 10	hertz

SR0_EXTRA3: Extra data type 3 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

Increment	Range	Units
1	0 - 10	hertz

SR0_PARAMS: Parameter stream rate to ground station

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Increment	Range	Units
1	0 - 10	hertz

SR0_ADSB: ADSB stream rate to ground station

Note: This parameter is for advanced users

ADSB stream rate to ground station

Increment	Range	Units
1	0 - 50	hertz

SR1_ Parameters

SR1_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

Increment	Range	Units
1	0 - 10	hertz

SR1_EXT_STAT: Extended status stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, POWER_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 - 10	hertz

SR1_RC_CHAN: RC Channel stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

Increment	Range	Units
1	0 - 10	hertz

SR1_RAW_CTRL: Raw Control stream rate to ground station

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Increment	Range	Units
1	0 - 10	hertz

SR1_POSITION: Position stream rate to ground station

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

Increment	Range	Units
1	0 - 10	hertz

SR1_EXTRA1: Extra data type 1 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

Increment	Range	Units
1	0 - 10	hertz

SR1_EXTRA2: Extra data type 2 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Increment	Range	Units
1	0 - 10	hertz

SR1_EXTRA3: Extra data type 3 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

Increment	Range	Units
1	0 - 10	hertz

SR1_PARAMS: Parameter stream rate to ground station

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Increment	Range	Units
1	0 - 10	hertz

SR1_ADSB: ADSB stream rate to ground station

Note: This parameter is for advanced users

ADSB stream rate to ground station

Increment	Range	Units
1	0 - 50	hertz

SR2_ Parameters

SR2_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

Increment	Range	Units
1	0 - 10	hertz

SR2_EXT_STAT: Extended status stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, POWER_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 - 10	hertz

SR2_RC_CHAN: RC Channel stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

Increment	Range	Units
1	0 - 10	hertz

SR2_RAW_CTRL: Raw Control stream rate to ground station

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Increment	Range	Units
1	0 - 10	hertz

SR2_POSITION: Position stream rate to ground station

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

Increment	Range	Units
1	0 - 10	hertz

SR2_EXTRA1: Extra data type 1 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

Increment	Range	Units
1	0 - 10	hertz

SR2_EXTRA2: Extra data type 2 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Increment	Range	Units
1	0 - 10	hertz

SR2_EXTRA3: Extra data type 3 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

Increment	Range	Units
1	0 - 10	hertz

SR2_PARAMS: Parameter stream rate to ground station

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Increment	Range	Units
1	0 - 10	hertz

SR2_ADSB: ADSB stream rate to ground station

Note: This parameter is for advanced users

ADSB stream rate to ground station

Increment	Range	Units
1	0 - 50	hertz

SR3_ Parameters

SR3_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station

Increment	Range	Units
1	0 - 10	hertz

SR3_EXT_STAT: Extended status stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SYS_STATUS, POWER_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 - 10	hertz

SR3_RC_CHAN: RC Channel stream rate to ground station

Note: This parameter is for advanced users

Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station

Increment	Range	Units
1	0 - 10	hertz

SR3_RAW_CTRL: Raw Control stream rate to ground station

Note: This parameter is for advanced users

Stream rate of RC_CHANNELS_SCALED (HIL only) to ground station

Increment	Range	Units
1	0 - 10	hertz

SR3_POSITION: Position stream rate to ground station

Note: This parameter is for advanced users

Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station

Increment	Range	Units
1	0 - 10	hertz

SR3_EXTRA1: Extra data type 1 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station

Increment	Range	Units
1	0 - 10	hertz

SR3_EXTRA2: Extra data type 2 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of VFR_HUD to ground station

Increment	Range	Units
1	0 - 10	hertz

SR3_EXTRA3: Extra data type 3 stream rate to ground station

Note: This parameter is for advanced users

Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station

Increment	Range	Units
1	0 - 10	hertz

SR3_PARAMS: Parameter stream rate to ground station

Note: This parameter is for advanced users

Stream rate of PARAM_VALUE to ground station

Increment	Range	Units
1	0 - 10	hertz

SR3_ADSB: ADSB stream rate to ground station

Note: This parameter is for advanced users

ADSB stream rate to ground station

Increment	Range	Units
1	0 - 50	hertz

SRTL_ Parameters

SRTL_ACCURACY: SmartRTL accuracy

Note: This parameter is for advanced users

SmartRTL accuracy. The minimum distance between points.

Range	Units
0 - 10	meters

SRTL_POINTS: SmartRTL maximum number of points on path

Note: This parameter is for advanced users

SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.

Range	RebootRequired
0 - 500	True

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)

ReadOnly	Units
True	seconds

TCAL Parameters

TCAL_ENABLED: Temperature calibration enable

Note: This parameter is for advanced users

Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values

Values
Value Meaning 0 Disabled 1 Enabled 2 EnableAndLearn

TCAL_TEMP_MIN: Temperature calibration min learned temperature

Note: This parameter is for advanced users

Minimum learned temperature. This is automatically set by the learning process

ReadOnly	Units	Volatile
True	degrees Celsius	True

TCAL_TEMP_MAX: Temperature calibration max learned temperature

Note: This parameter is for advanced users

Maximum learned temperature. This is automatically set by the learning process

ReadOnly	Units	Volatile
True	degrees Celsius	True

TCAL_BARO_EXP: Temperature Calibration barometer exponent

Note: This parameter is for advanced users

Learned exponent for barometer temperature correction

ReadOnly	Volatile
True	True

TERRAIN_ Parameters

TERRAIN_ENABLE: Terrain data enable

Note: This parameter is for advanced users

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

Values
Value Meaning 0 Disable 1 Enable

TERRAIN_SPACING: Terrain grid spacing

Note: This parameter is for advanced users

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the worldwide SRTM database then a resolution of 100 meters is appropriate. Some parts of the world may have higher resolution data available, such as 30 meter data available in the SRTM database in the USA. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be demand loaded as needed.

Increment	Units
1	meters

TERRAIN_OPTIONS: Terrain options

Note: This parameter is for advanced users

Options to change behaviour of terrain system

Bitmask
Bit Meaning 0 Disable Download

TMODE Parameters

TMODE_ENABLE: tmode enable

Note: This parameter is for advanced users

tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards

Values
Value Meaning 0 Disabled 1 EnableVersion1 2 EnableVersion2

TMODE_MODE1: Tmode first mode

This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 FlowHold

TMODE_MODE2: Tmode second mode

This is the secondary mode. This mode is assumed to require GPS

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 FlowHold

TMODE_ACTION1: Tmode action 1

This is the action taken when the left action button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION2: Tmode action 2

This is the action taken when the right action button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION3: Tmode action 3

This is the action taken when the power button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION4: Tmode action 4

This is the action taken when the left action button is pressed while the left (Mode) button is held down

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION5: Tmode action 5

This is the action taken when the right action is pressed while the left (Mode) button is held down

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION6: Tmode action 6

This is the action taken when the power button is pressed while the left (Mode) button is held down

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_LEFT: Tmode left action

This is the action taken when the left (Mode) button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_LEFT_LONG: Tmode left long action

This is the action taken when the left (Mode) button is long-pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_TRIM_AUTO: Stick auto trim limit

This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500

Range
0 - 100

TMODE_RIGHT: Tmode right action

This is the action taken when the right (Return) button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest

TMODE_FLAGS: Tmode flags

Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged

Bitmask
Bit Meaning 0 DisarmOnLowThrottle 1 ArmOnHighThrottle 2 UpgradeToLoiter 3 RTLStickCancel

TMODE_VMIN: Min voltage for output limiting

Note: This parameter is for advanced users

This is the battery voltage below which no output limiting is done

Increment	Range
0.01	0 - 5

TMODE_VMAX: Max voltage for output limiting

Note: This parameter is for advanced users

This is the battery voltage above which thrust min is used

Increment	Range
0.01	0 - 5

TMODE_TMIN: Min thrust multiplier

Note: This parameter is for advanced users

This sets the thrust multiplier when voltage is high

Increment	Range
0.01	0 - 1

TMODE_TMAX: Max thrust multiplier

Note: This parameter is for advanced users

This sets the thrust multiplier when voltage is low

Increment	Range
0.01	0 - 1

TMODE_LOAD_MUL: Load test multiplier

Note: This parameter is for advanced users

This scales the load test output, as a value between 0 and 1

Increment	Range
0.01	0 - 1

TMODE_LOAD_FILT: Load test filter

Note: This parameter is for advanced users

This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc

Range
0 - 100

TMODE_LOAD_TYPE: Load test type

Note: This parameter is for advanced users

This sets the type of load test

Values
Value Meaning 0 ConstantThrust 1 LogReplay1 2 LogReplay2

VISO Parameters

VISO_TYPE: Visual odometry camera connection type

Note: This parameter is for advanced users

Visual odometry camera connection type

Values
Value Meaning 0 None 1 MAV

VISO_POS_X: Visual odometry camera X position offset

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Units
meters

VISO_POS_Y: Visual odometry camera Y position offset

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Units
meters

VISO_POS_Z: Visual odometry camera Z position offset

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Units
meters

VISO_ORIENT: Visual odometery camera orientation

Note: This parameter is for advanced users

Visual odometery camera orientation

Values
Value Meaning 0 Forward 2 Right 4 Back 6 Left 24 Up 25 Down

WENC Parameters

WENC_TYPE: WheelEncoder type

What type of WheelEncoder is connected

Values
Value Meaning 0 None 1 Quadrature 10 SITL Quadrature

WENC_CPR: WheelEncoder counts per revolution

WheelEncoder counts per full revolution of the wheel

Increment
1

WENC_RADIUS: Wheel radius

Wheel radius

Increment	Units
0.001	meters

WENC_POS_X: Wheel's X position offset

X position of the center of the wheel in body frame. Positive X is forward of the origin.

Increment	Units
0.01	meters

WENC_POS_Y: Wheel's Y position offset

Y position of the center of the wheel in body frame. Positive Y is to the right of the origin.

Increment	Units
0.01	meters

WENC_POS_Z: Wheel's Z position offset

Z position of the center of the wheel in body frame. Positive Z is down from the origin.

Increment	Units
0.01	meters

WENC_PINA: Input Pin A

Input Pin A

Values
Value Meaning -1 Disabled 50 PixhawkAUX1 51 PixhawkAUX2 52 PixhawkAUX3 53 PixhawkAUX4 54 PixhawkAUX5 55 PixhawkAUX6

WENC_PINB: Input Pin B

Input Pin B

Values
Value Meaning -1 Disabled 50 PixhawkAUX1 51 PixhawkAUX2 52 PixhawkAUX3 53 PixhawkAUX4 54 PixhawkAUX5 55 PixhawkAUX6

WENC2_TYPE: Second WheelEncoder type

What type of WheelEncoder sensor is connected

Values
Value Meaning 0 None 1 Quadrature 10 SITL Quadrature

WENC2_CPR: WheelEncoder 2 counts per revolution

WheelEncoder 2 counts per full revolution of the wheel

Increment
1

WENC2_RADIUS: Wheel2's radius

Wheel2's radius

Increment	Units
0.001	meters

WENC2_POS_X: Wheel2's X position offset

X position of the center of the second wheel in body frame. Positive X is forward of the origin.

Increment	Units
0.01	meters

WENC2_POS_Y: Wheel2's Y position offset

Y position of the center of the second wheel in body frame. Positive Y is to the right of the origin.

Increment	Units
0.01	meters

WENC2_POS_Z: Wheel2's Z position offset

Z position of the center of the second wheel in body frame. Positive Z is down from the origin.

Increment	Units
0.01	meters

WENC2_PINA: Second Encoder Input Pin A

Second Encoder Input Pin A

Values
Value Meaning -1 Disabled 50 PixhawkAUX1 51 PixhawkAUX2 52 PixhawkAUX3 53 PixhawkAUX4 54 PixhawkAUX5 55 PixhawkAUX6

WENC2_PINB: Second Encoder Input Pin B

Second Encoder Input Pin B

Values
Value Meaning -1 Disabled 50 PixhawkAUX1 51 PixhawkAUX2 52 PixhawkAUX3 53 PixhawkAUX4 54 PixhawkAUX5 55 PixhawkAUX6

WINCH_ Parameters

WINCH_ENABLE: Winch enable/disable

Winch enable/disable

Values
Value Meaning 0 Disabled 1 Enabled

WINCH_TYPE: Winch Type

Winch Type

Values
Value Meaning 1 Servo with encoder

WINCH__RATE_MAX: Winch deploy or retract rate maximum

Winch deploy or retract rate maximum. Set to maximum rate with no load.

Range	Units
0 - 10	meters per second

WINCH__POS_P: Winch control position error P gain

Winch control position error P gain

Range
0.01 - 10.0

WINCH__RATE_P: Winch control rate P gain

Winch control rate P gain. Converts rate error (in radians/sec) to pwm output (in the range -1 to +1)

Range
0.100 - 2.000

WINCH__RATE_I: Winch control I gain

Winch control I gain. Corrects long term error between the desired rate (in rad/s) and actual

Range
0.000 - 2.000

WINCH__RATE_IMAX: Winch control I gain maximum

Winch control I gain maximum. Constrains the output (range -1 to +1) that the I term will generate

Range
0.000 - 1.000

WINCH__RATE_D: Winch control D gain

Winch control D gain. Compensates for short-term change in desired rate vs actual

Range
0.000 - 0.400

WINCH__RATE_FILT: Winch control filter frequency

Winch control input filter. Lower values reduce noise but add delay.

Range	Units
1.000 - 100.000	hertz

WPNAV_ Parameters

WPNAV_SPEED: Waypoint Horizontal Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

Increment	Range	Units
50	20 - 2000	centimeters per second

WPNAV_RADIUS: Waypoint Radius

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

Increment	Range	Units
1	5 - 1000	centimeters

WPNAV_SPEED_UP: Waypoint Climb Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

Increment	Range	Units
50	10 - 1000	centimeters per second

WPNAV_SPEED_DN: Waypoint Descent Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

Increment	Range	Units
10	10 - 500	centimeters per second

WPNAV_ACCEL: Waypoint Acceleration

Defines the horizontal acceleration in cm/s/s used during missions

Increment	Range	Units
10	50 - 500	centimeters per square second

WPNAV_ACCEL_Z: Waypoint Vertical Acceleration

Defines the vertical acceleration in cm/s/s used during missions

Increment	Range	Units
10	50 - 500	centimeters per square second

WPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following

Note: This parameter is for advanced users

This controls if waypoint missions use rangefinder for terrain following

Values
Value Meaning 0 Disable 1 Enable