Complete Parameter List¶
Full Parameter List of Copter stable V4.1.3
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¶
FORMAT_VERSION: Eeprom format version number¶
This value is incremented when changes are made to the eeprom format
ReadOnly |
---|
True |
SYSID_THISMAV: MAVLink system ID of this vehicle¶
Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
Range |
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1 - 255 |
SYSID_MYGCS: My ground station number¶
Allows restricting radio overrides to only come from my ground station
Range |
---|
1 - 255 |
PILOT_THR_FILT: Throttle filter cutoff¶
Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
Increment |
Range |
Units |
---|---|---|
.5 |
0 - 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 |
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|
TELEM_DELAY: Telemetry startup delay¶
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
Increment |
Range |
Units |
---|---|---|
1 |
0 - 30 |
seconds |
GCS_PID_MASK: GCS PID tuning mask¶
bitmask of PIDs to send MAVLink PID_TUNING messages for
Bitmask |
Values |
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|
|
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 |
|
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 |
0 - 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 |
RTL_ALT_TYPE: RTL mode altitude type¶
RTL altitude type. Set to 1 for Terrain following during RTL and then set WPNAV_RFND_USE=1 to use rangefinder or WPNAV_RFND_USE=0 to use Terrain database
Values |
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---|---|---|---|---|---|---|
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FS_GCS_ENABLE: Ground Station Failsafe Enable¶
Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
Values |
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GPS_HDOP_GOOD: GPS Hdop Good¶
GPS Hdop value at or below this value represent a good position. Used for pre-arm checks
Range |
---|
100 - 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 |
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WP_YAW_BEHAVIOR: Yaw behaviour during missions¶
Determines how the autopilot controls the yaw during missions and RTL
Values |
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|
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 |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FS_THR_VALUE: Throttle Failsafe Value¶
The PWM level in microseconds on channel 3 below which throttle failsafe triggers
Increment |
Range |
Units |
---|---|---|
1 |
910 - 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 |
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FLTMODE2: Flight Mode 2¶
Flight mode when Channel 5 pwm is >1230, <= 1360
Values |
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FLTMODE3: Flight Mode 3¶
Flight mode when Channel 5 pwm is >1360, <= 1490
Values |
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FLTMODE4: Flight Mode 4¶
Flight mode when Channel 5 pwm is >1490, <= 1620
Values |
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FLTMODE5: Flight Mode 5¶
Flight mode when Channel 5 pwm is >1620, <= 1749
Values |
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FLTMODE6: Flight Mode 6¶
Flight mode when Channel 5 pwm is >=1750
Values |
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FLTMODE_CH: Flightmode channel¶
RC Channel to use for flight mode control
Values |
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INITIAL_MODE: Initial flight mode¶
This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
Values |
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SIMPLE: Simple mode bitmask¶
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 |
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ESC_CALIBRATION: ESC Calibration¶
Controls whether ArduCopter will enter ESC calibration on the next restart. Do not adjust this parameter manually.
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|
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TUNE: Channel 6 Tuning¶
Controls which parameters (normally PID gains) are being tuned with transmitter's channel 6 knob
Values |
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FRAME_TYPE: Frame Type (+, X, V, etc)¶
Controls motor mixing for multicopters. Not used for Tri or Traditional Helicopters.
RebootRequired |
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
DISARM_DELAY: Disarm delay¶
Delay before automatic disarm in seconds. A value of zero disables auto disarm.
Range |
Units |
---|---|
0 - 127 |
seconds |
ANGLE_MAX: Angle Max¶
Maximum lean angle in all flight modes
Increment |
Range |
Units |
---|---|---|
10 |
1000 - 8000 |
centidegrees |
PHLD_BRAKE_RATE: PosHold braking rate¶
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¶
PosHold flight mode's max lean angle during braking in centi-degrees
Increment |
Range |
Units |
---|---|---|
10 |
2000 - 4500 |
centidegrees |
LAND_REPOSITION: Land repositioning¶
Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
Values |
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---|---|---|---|---|---|---|
|
FS_EKF_ACTION: EKF Failsafe Action¶
Controls the action that will be taken when an EKF failsafe is invoked
Values |
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|
FS_EKF_THRESH: EKF failsafe variance threshold¶
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¶
This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
Values |
||||||
---|---|---|---|---|---|---|
|
RC_SPEED: ESC Update Speed¶
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¶
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¶
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¶
Type of trainer used in acro mode
Values |
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---|---|---|---|---|---|---|---|---|
|
ACRO_RP_EXPO: Acro Roll/Pitch Expo¶
Acro roll/pitch Expo to allow faster rotation when stick at edges
Range |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
-0.5 - 1.0 |
|
THROW_MOT_START: Start motors before throwing is detected¶
Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw.
Values |
||||||
---|---|---|---|---|---|---|
|
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 |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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THROW_TYPE: Type of Type¶
Used by Throw mode. Specifies whether Copter is thrown upward or dropped.
Values |
||||||
---|---|---|---|---|---|---|
|
GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable¶
Ground Effect Compensation Enable/Disable
Values |
||||||
---|---|---|---|---|---|---|
|
DEV_OPTIONS: Development options¶
Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
Bitmask |
||||||
---|---|---|---|---|---|---|
|
ACRO_Y_EXPO: Acro Yaw Expo¶
Acro yaw expo to allow faster rotation when stick at edges
Range |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
-0.5 - 1.0 |
|
ACRO_THR_MID: Acro Thr Mid¶
Acro Throttle Mid
Range |
---|
0 - 1 |
SYSID_ENFORCE: GCS sysid enforcement¶
This controls whether packets from other than the expected GCS system ID will be accepted
Values |
||||||
---|---|---|---|---|---|---|
|
FRAME_CLASS: Frame Class¶
Controls major frame class for multicopter component
RebootRequired |
Values |
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True |
|
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¶
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 |
||||||
---|---|---|---|---|---|---|
|
FS_OPTIONS: Failsafe options bitmask¶
Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
Bitmask |
Values |
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|
|
ACRO_OPTIONS: Acro mode options¶
A range of options that can be applied to change acro mode behaviour. Air-mode enables ATC_THR_MIX_MAN at all times (air-mode has no effect on helicopters). Rate Loop Only disables the use of angle stabilization and uses angular rate stabilization only.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
AUTO_OPTIONS: Auto mode options¶
A range of options that can be applied to change auto mode behaviour. Allow Arming allows the copter to be armed in Auto. Allow Takeoff Without Raising Throttle allows takeoff without the pilot having to raise the throttle. Ignore pilot yaw overrides the pilot's yaw stick being used while in auto.
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
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GUID_OPTIONS: Guided mode options¶
Options that can be applied to change guided mode behaviour
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FS_GCS_TIMEOUT: GCS failsafe timeout¶
Timeout before triggering the GCS failsafe
Increment |
Range |
Units |
---|---|---|
1 |
2 - 120 |
seconds |
RTL_OPTIONS: RTL mode options¶
Options that can be applied to change RTL mode behaviour
Bitmask |
||||
---|---|---|---|---|
|
FLIGHT_OPTIONS: Flight mode options¶
Flight mode specific options
Bitmask |
||||||
---|---|---|---|---|---|---|
|
RNGFND_FILT: Rangefinder filter¶
Rangefinder filter to smooth distance. Set to zero to disable filtering
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
0.05 |
0 - 5 |
True |
hertz |
GUID_TIMEOUT: Guided mode timeout¶
Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during velocity, acceleration or angle control
Range |
Units |
---|---|
0.1 - 5 |
seconds |
ADSB_ Parameters¶
ADSB_TYPE: ADSB Type¶
Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
ADSB_LIST_MAX: ADSB vehicle list size¶
ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.
Range |
RebootRequired |
---|---|
1 - 100 |
True |
ADSB_LIST_RADIUS: ADSB vehicle list radius filter¶
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¶
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¶
ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).
Values |
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|
ADSB_LEN_WIDTH: Aircraft length and width¶
Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.
Values |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_OFFSET_LAT: GPS antenna lateral offset¶
GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft.
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_OFFSET_LON: GPS antenna longitudinal offset¶
GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor
Values |
||||||
---|---|---|---|---|---|---|
|
ADSB_RF_SELECT: Transceiver RF selection¶
Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
ADSB_SQUAWK: Squawk code¶
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¶
Describes your hardware RF In/Out capabilities.
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_LIST_ALT: ADSB vehicle list altitude filter¶
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¶
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¶
0: no logging, 1: log only special ID, 2:log all
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
AFS_ Parameters¶
AFS_ENABLE: Enable Advanced Failsafe¶
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¶
This sets a digital output pin to set high when in manual mode
AFS_HB_PIN: Heartbeat Pin¶
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 |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AFS_WP_COMMS: Comms Waypoint¶
Waypoint number to navigate to on comms loss
AFS_WP_GPS_LOSS: GPS Loss Waypoint¶
Waypoint number to navigate to on GPS lock loss
AFS_TERMINATE: Force Terminate¶
Can be set in flight to force termination of the heartbeat signal
AFS_TERM_ACTION: Terminate action¶
This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter
AFS_TERM_PIN: Terminate Pin¶
This sets a digital output pin to set high on flight termination
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AFS_AMSL_LIMIT: AMSL limit¶
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¶
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¶
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 |
---|
hectopascal |
AFS_MAX_GPS_LOSS: Maximum number of GPS loss events¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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_YAW_P: Yaw P¶
This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
Increment |
Range |
---|---|
.01 |
0.1 - 0.4 |
AHRS_RP_P: AHRS RP_P¶
This controls how fast the accelerometers correct the attitude
Increment |
Range |
---|---|
.01 |
0.1 - 0.4 |
AHRS_WIND_MAX: Maximum wind¶
This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 127 |
meters per second |
AHRS_TRIM_X: AHRS Trim Roll¶
Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 - +0.1745 |
radians |
AHRS_TRIM_Y: AHRS Trim Pitch¶
Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 - +0.1745 |
radians |
AHRS_TRIM_Z: AHRS Trim Yaw¶
Not Used
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 - +0.1745 |
radians |
AHRS_ORIENTATION: Board Orientation¶
Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. This option takes affect on next boot. After changing you will need to re-level your vehicle.
Values |
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|
AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶
This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
Increment |
Range |
---|---|
.01 |
0.001 - 0.5 |
AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶
Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
Increment |
Range |
---|---|
1 |
0 - 10 |
AHRS_CUSTOM_ROLL: Board orientation roll offset¶
Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
AHRS_CUSTOM_PIT: Board orientation pitch offset¶
Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
AHRS_CUSTOM_YAW: Board orientation yaw offset¶
Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
ARMING_ Parameters¶
ARMING_ACCTHRESH: Accelerometer error threshold¶
Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.
Range |
Units |
---|---|
0.25 - 3.0 |
meters per square second |
ARMING_RUDDER: Arming with Rudder enable/disable¶
Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARMING_MIS_ITEMS: Required mission items¶
Bitmask of mission items that are required to be planned in order to arm the aircraft
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARMING_CHECK: Arm Checks to Perform (bitmask)¶
Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.
Bitmask |
||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AROT_ Parameters¶
AROT_ENABLE: Enable settings for RSC Setpoint¶
Allows you to enable (1) or disable (0) the autonomous autorotation capability.
Values |
||||||
---|---|---|---|---|---|---|
|
AROT_HS_P: P gain for head speed controller¶
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¶
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¶
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¶
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¶
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¶
Maximum forward acceleration to apply in speed controller.
Increment |
Range |
Units |
---|---|---|
10 |
30 - 60 |
centimeters per square second |
AROT_BAIL_TIME: Bail Out Timer¶
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¶
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¶
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¶
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¶
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¶
Maximum acceleration in yaw axis
Increment |
Range |
Units |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1000 |
0 - 72000 |
centidegrees per square second |
|
ATC_RATE_FF_ENAB: Rate Feedforward Enable¶
Controls whether body-frame rate feedfoward is enabled or disabled
Values |
||||||
---|---|---|---|---|---|---|
|
ATC_ACCEL_R_MAX: Acceleration Max for Roll¶
Maximum acceleration in roll axis
Increment |
Range |
Units |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1000 |
0 - 180000 |
centidegrees per square second |
|
ATC_ACCEL_P_MAX: Acceleration Max for Pitch¶
Maximum acceleration in pitch axis
Increment |
Range |
Units |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1000 |
0 - 180000 |
centidegrees per square second |
|
ATC_ANGLE_BOOST: Angle Boost¶
Angle Boost increases output throttle as the vehicle leans to reduce loss of altitude
Values |
||||||
---|---|---|---|---|---|---|
|
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 |
---|
3.000 - 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 |
---|
3.000 - 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 |
---|
3.000 - 12.000 |
ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant¶
Angle Limit (to maintain altitude) Time Constant
Range |
---|
0.5 - 10.0 |
ATC_RATE_R_MAX: Angular Velocity Max for Roll¶
Maximum angular velocity in roll axis
Increment |
Range |
Units |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
0 - 1080 |
degrees per second |
|
ATC_RATE_P_MAX: Angular Velocity Max for Pitch¶
Maximum angular velocity in pitch axis
Increment |
Range |
Units |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
0 - 1080 |
degrees per second |
|
ATC_RATE_Y_MAX: Angular Velocity Max for Yaw¶
Maximum angular velocity in yaw axis
Increment |
Range |
Units |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
0 - 1080 |
degrees per second |
|
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 |
---|---|
0.01 |
0 - 1 |
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_RLL_SMAX (AC_AttitudeControl_Multi): Roll slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 - 200 |
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 |
---|---|
0.01 |
0 - 1 |
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_PIT_SMAX (AC_AttitudeControl_Multi): Pitch slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 - 200 |
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 |
---|---|
0.01 |
0 - 1 |
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_RAT_YAW_SMAX (AC_AttitudeControl_Multi): Yaw slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 - 200 |
ATC_THR_MIX_MIN: Throttle Mix Minimum¶
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¶
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¶
Throttle vs attitude control prioritisation used during manual flight (higher values mean we prioritise attitude control over throttle)
Range |
---|
0.1 - 0.9 |
ATC_HOVR_ROL_TRM: Hover Roll Trim¶
Trim the hover roll angle to counter tail rotor thrust in a hover
Increment |
Range |
Units |
---|---|---|
10 |
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 |
0.0 - 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 |
0.0 - 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¶
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 |
0.0 - 0.03 |
ATC_RAT_RLL_VFF: Roll axis rate controller feed forward¶
Roll axis rate controller feed forward
Increment |
Range |
---|---|
0.001 |
0.05 - 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_RLL_SMAX (AC_AttitudeControl_Heli): Roll slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 - 200 |
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 |
0.0 - 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 |
0.0 - 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¶
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 |
0.0 - 0.03 |
ATC_RAT_PIT_VFF: Pitch axis rate controller feed forward¶
Pitch axis rate controller feed forward
Increment |
Range |
---|---|
0.001 |
0.05 - 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_PIT_SMAX (AC_AttitudeControl_Heli): Pitch slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 - 200 |
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 - 0.2 |
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¶
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_RAT_YAW_SMAX (AC_AttitudeControl_Heli): Yaw slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 - 200 |
ATC_PIRO_COMP: Piro Comp Enable¶
Pirouette compensation enabled
Values |
||||||
---|---|---|---|---|---|---|
|
AUTOTUNE_ Parameters¶
AUTOTUNE_AXES: Autotune axis bitmask¶
1-byte bitmap of axes to autotune
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
AUTOTUNE_AGGR: Autotune aggressiveness¶
Autotune aggressiveness. Defines the bounce back used to detect size of the D term.
Range |
---|
0.05 - 0.10 |
AVD_ Parameters¶
AVD_ENABLE: Enable Avoidance using ADSB¶
Enable Avoidance using ADSB
Values |
||||||
---|---|---|---|---|---|---|
|
AVD_F_ACTION: Collision Avoidance Behavior¶
Specifies aircraft behaviour when a collision is imminent
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AVD_W_ACTION: Collision Avoidance Behavior - Warn¶
Specifies aircraft behaviour when a collision may occur
Values |
||||||
---|---|---|---|---|---|---|
|
AVD_F_RCVRY: Recovery behaviour after a fail event¶
Determines what the aircraft will do after a fail event is resolved
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
AVD_OBS_MAX: Maximum number of obstacles to track¶
Maximum number of obstacles to track
AVD_W_TIME: Time Horizon Warn¶
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¶
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¶
Closest allowed projected distance before W_ACTION is undertaken
Units |
---|
meters |
AVD_F_DIST_XY: Distance Fail XY¶
Closest allowed projected distance before F_ACTION is undertaken
Units |
---|
meters |
AVD_W_DIST_Z: Distance Warn Z¶
Closest allowed projected distance before BEHAVIOUR_W is undertaken
Units |
---|
meters |
AVD_F_DIST_Z: Distance Fail Z¶
Closest allowed projected distance before BEHAVIOUR_F is undertaken
Units |
---|
meters |
AVD_F_ALT_MIN: ADS-B avoidance minimum altitude¶
Minimum AMSL (above mean sea level) 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 |
||||||||
---|---|---|---|---|---|---|---|---|
|
AVOID_ANGLE_MAX: Avoidance max lean angle in non-GPS flight modes¶
Max lean angle used to avoid obstacles while in non-GPS modes
Increment |
Range |
Units |
---|---|---|
10 |
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 |
||||||
---|---|---|---|---|---|---|
|
AVOID_BACKUP_SPD: Avoidance maximum backup speed¶
Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable
Range |
Units |
---|---|
0 - 2 |
meters per second |
AVOID_ALT_MIN: Avoidance minimum altitude¶
Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable
Range |
Units |
---|---|
0 - 6 |
meters |
AVOID_ACCEL_MAX: Avoidance maximum acceleration¶
Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits
Range |
Units |
---|---|
0 - 9 |
meters per square second |
AVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle¶
Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.
Range |
Units |
---|---|
0 - 2 |
meters |
BARO Parameters¶
BARO1_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
---|---|---|---|
1 |
True |
pascal |
True |
BARO_GND_TEMP: ground temperature¶
User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.
Increment |
Units |
Volatile |
---|---|---|
1 |
degrees Celsius |
True |
BARO_ALT_OFFSET: altitude offset¶
altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
Increment |
Units |
---|---|
0.1 |
meters |
BARO_PRIMARY: Primary barometer¶
This selects which barometer will be the primary if multiple barometers are found
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BARO_EXT_BUS: External baro bus¶
This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BARO_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 |
BARO2_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
---|---|---|---|
1 |
True |
pascal |
True |
BARO3_GND_PRESS: Absolute Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
---|---|---|---|
1 |
True |
pascal |
True |
BARO_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
BARO_PROBE_EXT: External barometers to probe¶
This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.
Bitmask |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BARO1_DEVID: Baro ID¶
Barometer sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
BARO2_DEVID: Baro ID2¶
Barometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
BARO3_DEVID: Baro ID3¶
Barometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
BARO1_WCF_ Parameters¶
BARO1_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
---|---|---|---|---|---|---|
|
BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO2_WCF_ Parameters¶
BARO2_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
---|---|---|---|---|---|---|
|
BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO3_WCF_ Parameters¶
BARO3_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
---|---|---|---|---|---|---|
|
BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BATT2_ Parameters¶
BATT2_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT2_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT2_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT2_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT2_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT2_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT2_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT2_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT2_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT2_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT2_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BATT3_ Parameters¶
BATT3_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT3_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT3_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT3_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT3_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT3_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT3_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT3_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT3_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT3_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT3_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BATT4_ Parameters¶
BATT4_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT4_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT4_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT4_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT4_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT4_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT4_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT4_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT4_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT4_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT4_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BATT5_ Parameters¶
BATT5_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT5_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT5_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT5_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT5_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT5_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT5_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT5_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT5_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT5_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT5_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BATT6_ Parameters¶
BATT6_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT6_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT6_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT6_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT6_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT6_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT6_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT6_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT6_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT6_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT6_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BATT7_ Parameters¶
BATT7_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT7_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT7_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT7_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT7_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT7_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT7_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT7_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT7_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT7_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT7_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BATT8_ Parameters¶
BATT8_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT8_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT8_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT8_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT8_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT8_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT8_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT8_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT8_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT8_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT8_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BATT9_ Parameters¶
BATT9_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT9_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT9_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT9_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT9_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT9_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT9_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT9_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT9_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT9_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT9_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BATT_ Parameters¶
BATT_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BATT_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT_AMP_PERVLT: 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_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.
BATT_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||
---|---|---|---|---|
|
BCN Parameters¶
BCN_TYPE: Beacon based position estimation device type¶
What type of beacon based position estimation device is connected
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BCN_LATITUDE: Beacon origin's latitude¶
Beacon origin's latitude
Increment |
Range |
Units |
---|---|---|
0.000001 |
-90 - 90 |
degrees |
BCN_LONGITUDE: Beacon origin's longitude¶
Beacon origin's longitude
Increment |
Range |
Units |
---|---|---|
0.000001 |
-180 - 180 |
degrees |
BCN_ALT: Beacon origin's altitude above sealevel in meters¶
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¶
Beacon systems rotation from north in degrees
Increment |
Range |
Units |
---|---|---|
1 |
-180 - +180 |
degrees |
BRD_ Parameters¶
BRD_PWM_COUNT: Auxiliary pin config¶
Controls number of FMU outputs which are setup for PWM. All unassigned pins can be used for GPIO
RebootRequired |
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
BRD_SER1_RTSCTS: Serial 1 flow control¶
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 |
|
BRD_SER2_RTSCTS: Serial 2 flow control¶
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 |
|
BRD_SER3_RTSCTS: Serial 3 flow control¶
Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
BRD_SER4_RTSCTS: Serial 4 flow control¶
Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
BRD_SER5_RTSCTS: Serial 5 flow control¶
Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
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 |
|
BRD_SBUS_OUT: SBUS output rate¶
This sets the SBUS output frame rate in Hz
RebootRequired |
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
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: Outputs which ignore the safety switch state¶
A bitmask which controls what outputs can move while the safety switch has not been pressed
Bitmask |
RebootRequired |
||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
BRD_IMU_TARGTEMP: Target IMU temperature¶
This sets the target IMU temperature for boards with controllable IMU heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.
Range |
Units |
---|---|
-1 - 80 |
degrees Celsius |
BRD_TYPE: Board type¶
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 |
|
BRD_IO_ENABLE: Enable IO co-processor¶
This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
RebootRequired |
Values |
||||||
---|---|---|---|---|---|---|---|
True |
|
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 |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
BRD_VBUS_MIN: Autopilot board voltage requirement¶
Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
Increment |
Range |
Units |
---|---|---|
0.1 |
4.0 - 5.5 |
volt |
BRD_VSERVO_MIN: Servo voltage requirement¶
Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
Increment |
Range |
Units |
---|---|---|
0.1 |
3.3 - 12.0 |
volt |
BRD_SD_SLOWDOWN: microSD slowdown¶
This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
Increment |
Range |
---|---|
1 |
0 - 32 |
BRD_PWM_VOLT_SEL: Set PWM Out Voltage¶
This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_OPTIONS: Board options¶
Board specific option flags
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
BRD_BOOT_DELAY: Boot delay¶
This adds a delay in milliseconds to boot to ensure peripherals initialise fully
Range |
Units |
---|---|
0 - 10000 |
milliseconds |
BRD_IMUHEAT_P: IMU Heater P gain¶
IMU Heater P gain
Increment |
Range |
---|---|
1 |
1 - 500 |
BRD_IMUHEAT_I: IMU Heater I gain¶
IMU Heater integrator gain
Increment |
Range |
---|---|
0.1 |
0 - 1 |
BRD_IMUHEAT_IMAX: IMU Heater IMAX¶
IMU Heater integrator maximum
Increment |
Range |
---|---|
1 |
0 - 100 |
BRD_ALT_CONFIG: Alternative HW config¶
Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.
Increment |
Range |
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 |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_PROT: protocol¶
Select air protocol
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_DEBUG: debug level¶
radio debug level
Range |
---|
0 - 4 |
BRD_RADIO_DISCRC: disable receive CRC¶
disable receive CRC (for debug)
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_RADIO_SIGCH: RSSI signal strength¶
Channel to show receive RSSI signal strength, or zero for disabled
Range |
---|
0 - 16 |
BRD_RADIO_PPSCH: Packet rate channel¶
Channel to show received packet-per-second rate, or zero for disabled
Range |
---|
0 - 16 |
BRD_RADIO_TELEM: Enable telemetry¶
If this is non-zero then telemetry packets will be sent over DSM
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_RADIO_TXPOW: Telemetry Transmit power¶
Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX
Range |
---|
1 - 8 |
BRD_RADIO_FCCTST: Put radio into FCC test mode¶
If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_STKMD: Stick input mode¶
This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_RADIO_TESTCH: Set radio to factory test channel¶
This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶
Channel to show telemetry RSSI value as received by TX
Range |
---|
0 - 16 |
BRD_RADIO_TPPSCH: Telemetry PPS channel¶
Channel to show telemetry packets-per-second value, as received at TX
Range |
---|
0 - 16 |
BRD_RADIO_TXMAX: Transmitter transmit power¶
Set transmitter maximum transmit power (from 1 to 8)
Range |
---|
1 - 8 |
BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶
Set transmitter buzzer note adjustment (adjust frequency up)
Range |
---|
0 - 40 |
BRD_RADIO_ABTIME: Auto-bind time¶
When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.
Range |
---|
0 - 120 |
BRD_RADIO_ABLVL: Auto-bind level¶
This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially
Range |
---|
0 - 31 |
BRD_RTC Parameters¶
BRD_RTC_TYPES: Allowed sources of RTC time¶
Specifies which sources of UTC time will be accepted
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_RTC_TZ_MIN: Timezone offset from UTC¶
Adds offset in +- minutes from UTC to calculate local time
Range |
---|
-720 - +840 |
BTN_ Parameters¶
BTN_ENABLE: Enable button reporting¶
This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible
Values |
||||||
---|---|---|---|---|---|---|
|
BTN_PIN1: First button Pin¶
Digital pin number for first button input.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BTN_PIN2: Second button Pin¶
Digital pin number for second button input.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BTN_PIN3: Third button Pin¶
Digital pin number for third button input.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BTN_PIN4: Fourth button Pin¶
Digital pin number for fourth button input.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
BTN_OPTIONS1: Button Pin 1 Options¶
Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
BTN_OPTIONS2: Button Pin 2 Options¶
Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
BTN_OPTIONS3: Button Pin 3 Options¶
Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
BTN_OPTIONS4: Button Pin 4 Options¶
Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
BTN_FUNC1: Button Pin 1 RC Channel function¶
Auxiliary RC Options function executed on pin change
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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|
BTN_FUNC2: Button Pin 2 RC Channel function¶
Auxiliary RC Options function executed on pin change
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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|
BTN_FUNC3: Button Pin 3 RC Channel function¶
Auxiliary RC Options function executed on pin change
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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|
BTN_FUNC4: Button Pin 4 RC Channel function¶
Auxiliary RC Options function executed on pin change
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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|
CAM_ Parameters¶
CAM_TRIGG_TYPE: Camera shutter (trigger) type¶
how to trigger the camera to take a picture
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
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 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 |
||||||
---|---|---|---|---|---|---|
|
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 |
|
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 |
||||||
---|---|---|---|---|---|---|
|
CAM_AUTO_ONLY: Distance-trigging in AUTO mode only¶
When enabled, trigging by distance is done in AUTO mode only.
Values |
||||||
---|---|---|---|---|---|---|
|
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 |
||||||
---|---|---|---|---|---|---|
|
CAM_RC_ Parameters¶
CAM_RC_TYPE: RunCam device type¶
RunCam deviee type used to determine OSD menu structure and shutter options.
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAM_RC_FEATURES: RunCam features available¶
The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.
Bitmask |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAM_RC_BT_DELAY: RunCam boot delay before allowing updates¶
Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.
CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses¶
Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.
CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses¶
Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.
CAM_RC_CONTROL: RunCam control option¶
Specifies the allowed actions required to enter the OSD menu
Bitmask |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_ Parameters¶
CAN_LOGLEVEL: Loglevel¶
Loglevel for recording initialisation and debug information from CAN Interface
Range |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
CAN_D1_ Parameters¶
CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
CAN_D1_KDE_ Parameters¶
CAN_D1_KDE_NPOLE: Number of motor poles¶
Sets the number of motor poles to calculate the correct RPM value
CAN_D1_PC_ Parameters¶
CAN_D1_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
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_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D1_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
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, 15: Servo 16 |
CAN_D1_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D1_TST_ Parameters¶
CAN_D1_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
Range |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
CAN_D1_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
Units |
---|
microseconds |
CAN_D1_UC_ Parameters¶
CAN_D1_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
Range |
---|
1 - 250 |
CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶
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¶
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¶
Maximum transmit rate for servo outputs
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D1_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||
---|---|---|---|---|---|---|
|
CAN_D2_ Parameters¶
CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
CAN_D2_KDE_ Parameters¶
CAN_D2_KDE_NPOLE: Number of motor poles¶
Sets the number of motor poles to calculate the correct RPM value
CAN_D2_PC_ Parameters¶
CAN_D2_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
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_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D2_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
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, 15: Servo 16 |
CAN_D2_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D2_TST_ Parameters¶
CAN_D2_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
Range |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
CAN_D2_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
Units |
---|
microseconds |
CAN_D2_UC_ Parameters¶
CAN_D2_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
Range |
---|
1 - 250 |
CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶
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¶
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¶
Maximum transmit rate for servo outputs
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D2_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||
---|---|---|---|---|---|---|
|
CAN_D3_ Parameters¶
CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
CAN_D3_KDE_ Parameters¶
CAN_D3_KDE_NPOLE: Number of motor poles¶
Sets the number of motor poles to calculate the correct RPM value
CAN_D3_PC_ Parameters¶
CAN_D3_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
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_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D3_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
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, 15: Servo 16 |
CAN_D3_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D3_TST_ Parameters¶
CAN_D3_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
Range |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
CAN_D3_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
Units |
---|
microseconds |
CAN_D3_UC_ Parameters¶
CAN_D3_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
Range |
---|
1 - 250 |
CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶
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¶
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¶
Maximum transmit rate for servo outputs
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D3_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||
---|---|---|---|---|---|---|
|
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 |
|
CAN_P1_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
---|
10000 - 1000000 |
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 |
|
CAN_P2_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
---|
10000 - 1000000 |
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 |
|
CAN_P3_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
---|
10000 - 1000000 |
CAN_SLCAN_ Parameters¶
CAN_SLCAN_CPORT: SLCAN Route¶
CAN Interface ID to be routed to SLCAN, 0 means no routing
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
CAN_SLCAN_SERNUM: SLCAN Serial Port¶
Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_SLCAN_TIMOUT: SLCAN Timeout¶
Duration of inactivity after which SLCAN is switched back to original driver in seconds.
Range |
---|
0 - 127 |
CAN_SLCAN_SDELAY: SLCAN Start Delay¶
Duration after which slcan starts after setting SERNUM in seconds.
Range |
---|
0 - 127 |
CHUTE_ Parameters¶
CHUTE_ENABLED: Parachute release enabled or disabled¶
Parachute release enabled or disabled
Values |
||||||
---|---|---|---|---|---|---|
|
CHUTE_TYPE: Parachute release mechanism type (relay or servo)¶
Parachute release mechanism type (relay or servo)
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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_OPTIONS: Circle options¶
0:Enable or disable using the pitch/roll stick control circle mode's radius and rate
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
COMPASS_ Parameters¶
COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶
Offset to be added to the compass x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶
Offset to be added to the compass y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶
Offset to be added to the compass z-axis values to compensate for metal in the frame
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¶
Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE: Use compass for yaw¶
Enable or disable the use of the compass (instead of the GPS) for determining heading
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_AUTODEC: Auto Declination¶
Enable or disable the automatic calculation of the declination based on gps location
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_MOTCT: Motor interference compensation type¶
Set motor interference compensation type to disabled, throttle or current. Do not change manually.
Calibration |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
1 |
|
COMPASS_MOT_X: Motor interference compensation for body frame X axis¶
Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶
Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶
Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
---|---|---|
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_ORIENT: Compass orientation¶
The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERNAL: Compass is attached via an external cable¶
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 |
||||||||
---|---|---|---|---|---|---|---|---|
|
COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶
Offset to be added to compass2's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶
Offset to be added to compass2's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶
Offset to be added to compass2's z-axis values to compensate for metal in the frame
Increment |
Range |
Units |
---|---|---|
1 |
-400 - 400 |
milligauss |
COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis¶
Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis¶
Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis¶
Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
---|---|---|
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶
Offset to be added to compass3's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶
Offset to be added to compass3's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶
Offset to be added to compass3's z-axis values to compensate for metal in the frame
Increment |
Range |
Units |
---|---|---|
1 |
-400 - 400 |
milligauss |
COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis¶
Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis¶
Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis¶
Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
---|---|---|
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_DEV_ID: Compass device id¶
Compass device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID2: Compass2 device id¶
Second compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID3: Compass3 device id¶
Third compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_USE2: Compass2 used for yaw¶
Enable or disable the secondary compass for determining heading.
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_ORIENT2: Compass2 orientation¶
The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN2: Compass2 is attached via an external cable¶
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 |
||||||||
---|---|---|---|---|---|---|---|---|
|
COMPASS_USE3: Compass3 used for yaw¶
Enable or disable the tertiary compass for determining heading.
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_ORIENT3: Compass3 orientation¶
The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN3: Compass3 is attached via an external cable¶
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 |
||||||||
---|---|---|---|---|---|---|---|---|
|
COMPASS_DIA_X: Compass soft-iron diagonal X component¶
DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶
DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶
DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶
ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶
ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶
ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶
DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶
DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶
DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶
ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶
ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶
ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶
DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶
DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶
DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶
ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶
ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶
ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_CAL_FIT: Compass calibration fitness¶
This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
Increment |
Range |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
0.1 |
4 - 32 |
|
COMPASS_OFFS_MAX: Compass maximum offset¶
This sets the maximum allowed compass offset in calibration and arming checks
Increment |
Range |
---|---|
1 |
500 - 3000 |
COMPASS_TYPEMASK: Compass disable driver type mask¶
This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
Bitmask |
||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
COMPASS_AUTO_ROT: Automatically check orientation¶
When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
COMPASS_PRIO1_ID: Compass device id with 1st order priority¶
Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
RebootRequired |
---|
True |
COMPASS_PRIO2_ID: Compass device id with 2nd order priority¶
Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
RebootRequired |
---|
True |
COMPASS_PRIO3_ID: Compass device id with 3rd order priority¶
Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
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 |
||||||
---|---|---|---|---|---|---|
|
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¶
This sets options to change the behaviour of the compass
Bitmask |
||||
---|---|---|---|---|
|
COMPASS_DEV_ID4: Compass4 device id¶
Extra 4th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID5: Compass5 device id¶
Extra 5th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID6: Compass6 device id¶
Extra 6th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID7: Compass7 device id¶
Extra 7th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID8: Compass8 device id¶
Extra 8th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_CUS_ROLL: Custom orientation roll offset¶
Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
1 |
-180 - 180 |
True |
degrees |
COMPASS_CUS_PIT: Custom orientation pitch offset¶
Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
1 |
-180 - 180 |
True |
degrees |
COMPASS_CUS_YAW: Custom orientation yaw offset¶
Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
1 |
-180 - 180 |
True |
degrees |
COMPASS_PMOT Parameters¶
COMPASS_PMOT_EN: per-motor compass correction enable¶
This enables per-motor compass corrections
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_PMOT_EXP: per-motor exponential correction¶
This is the exponential correction for the power output of the motor for per-motor compass correction
Increment |
Range |
---|---|
0.01 |
0 - 2 |
COMPASS_PMOT1_X: Compass per-motor1 X¶
Compensation for X axis of motor1
COMPASS_PMOT1_Y: Compass per-motor1 Y¶
Compensation for Y axis of motor1
COMPASS_PMOT1_Z: Compass per-motor1 Z¶
Compensation for Z axis of motor1
COMPASS_PMOT2_X: Compass per-motor2 X¶
Compensation for X axis of motor2
COMPASS_PMOT2_Y: Compass per-motor2 Y¶
Compensation for Y axis of motor2
COMPASS_PMOT2_Z: Compass per-motor2 Z¶
Compensation for Z axis of motor2
COMPASS_PMOT3_X: Compass per-motor3 X¶
Compensation for X axis of motor3
COMPASS_PMOT3_Y: Compass per-motor3 Y¶
Compensation for Y axis of motor3
COMPASS_PMOT3_Z: Compass per-motor3 Z¶
Compensation for Z axis of motor3
COMPASS_PMOT4_X: Compass per-motor4 X¶
Compensation for X axis of motor4
COMPASS_PMOT4_Y: Compass per-motor4 Y¶
Compensation for Y axis of motor4
COMPASS_PMOT4_Z: Compass per-motor4 Z¶
Compensation for Z axis of motor4
EAHRS Parameters¶
EK2_ Parameters¶
EK2_ENABLE: Enable EKF2¶
This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.
RebootRequired |
Values |
||||||
---|---|---|---|---|---|---|---|
True |
|
EK2_GPS_TYPE: GPS mode control¶
This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 5.0 |
meters per second |
EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 5.0 |
meters per second |
EK2_VEL_I_GATE: GPS velocity innovation gate size¶
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements 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)¶
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK2_POS_I_GATE: GPS position measurement gate size¶
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)¶
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¶
Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).
RebootRequired |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
EK2_ALT_M_NSE: Altitude measurement noise (m)¶
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK2_HGT_I_GATE: Height measurement gate size¶
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_HGT_DELAY: Height measurement delay (msec)¶
This is the number of msec that the Height measurements lag behind the inertial measurements.
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
10 |
0 - 250 |
True |
milliseconds |
EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.01 - 0.5 |
gauss |
EK2_MAG_CAL: Magnetometer default fusion mode¶
This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_MAG_I_GATE: Magnetometer measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 5.0 |
meters per second |
EK2_EAS_I_GATE: Airspeed measurement gate size¶
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_RNG_M_NSE: Range finder measurement noise (m)¶
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK2_RNG_I_GATE: Range finder measurement gate size¶
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_MAX_FLOW: Maximum valid optical flow rate¶
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
Increment |
Range |
Units |
---|---|---|
0.1 |
1.0 - 4.0 |
radians per second |
EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 1.0 |
radians per second |
EK2_FLOW_I_GATE: Optical Flow measurement gate size¶
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_FLOW_DELAY: Optical Flow measurement delay (msec)¶
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
10 |
0 - 127 |
True |
milliseconds |
EK2_GYRO_P_NSE: Rate gyro noise (rad/s)¶
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
Increment |
Range |
Units |
---|---|---|
0.0001 |
0.0001 - 0.1 |
radians per second |
EK2_ACC_P_NSE: Accelerometer noise (m/s^2)¶
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.01 - 1.0 |
meters per square second |
EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.001 |
radians per square second |
EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)¶
This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.
Range |
Units |
---|---|
0.000001 - 0.001 |
hertz |
EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.005 |
meters per cubic second |
EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)¶
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.01 - 1.0 |
meters per square second |
EK2_WIND_PSCALE: Height rate to wind process noise scaler¶
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
Increment |
Range |
---|---|
0.1 |
0.0 - 1.0 |
EK2_GPS_CHECK: GPS preflight check¶
This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
Bitmask |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_IMU_MASK: Bitmask of active IMUs¶
1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
Bitmask |
RebootRequired |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK2_CHECK_SCALE: GPS accuracy check scaler (%)¶
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
Range |
Units |
---|---|
50 - 200 |
percent |
EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
Range |
Units |
---|---|
0.5 - 50.0 |
meters |
EK2_YAW_M_NSE: Yaw measurement noise (rad)¶
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 1.0 |
radians |
EK2_YAW_I_GATE: Yaw measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶
Sets the time constant of the output complementary filter/predictor in centi-seconds.
Increment |
Range |
Units |
---|---|---|
5 |
10 - 50 |
centiseconds |
EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.01 |
gauss per second |
EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.01 |
gauss per second |
EK2_RNG_USE_HGT: Range finder switch height percentage¶
Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
Increment |
Range |
Units |
---|---|---|
1 |
-1 - 70 |
percent |
EK2_TERR_GRAD: Maximum terrain gradient¶
Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.
Increment |
Range |
---|---|
0.01 |
0 - 0.2 |
EK2_BCN_M_NSE: Range beacon measurement noise (m)¶
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK2_BCN_I_GTE: Range beacon measurement gate size¶
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_BCN_DELAY: Range beacon measurement delay (msec)¶
This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
10 |
0 - 127 |
True |
milliseconds |
EK2_RNG_USE_SPD: Range finder max ground speed¶
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
Increment |
Range |
Units |
---|---|---|
0.5 |
2.0 - 6.0 |
meters per second |
EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶
1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
Bitmask |
RebootRequired |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶
When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
Bitmask |
RebootRequired |
||||||||
---|---|---|---|---|---|---|---|---|---|
|
True |
EK2_FLOW_USE: Optical flow use bitmask¶
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
EK2_MAG_EF_LIM: EarthField error limit¶
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
Range |
Units |
---|---|
0 - 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 |
EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run¶
1 byte bitmap of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE, EK2_GSF_DELAY and EK2_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE to 0.
Bitmask |
RebootRequired |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used¶
1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance. Additionally the EKF2 will initiate a reset internally if navigation is lost for more than EK2_GSF_DELAY milli seconds.
Bitmask |
RebootRequired |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed¶
Sets the maximum number of times the EKF2 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE parameter.
Increment |
Range |
RebootRequired |
---|---|---|
1 |
1 - 10 |
True |
EK3_ Parameters¶
EK3_ENABLE: Enable EKF3¶
This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.
RebootRequired |
Values |
||||||
---|---|---|---|---|---|---|---|
True |
|
EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 5.0 |
meters per second |
EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 5.0 |
meters per second |
EK3_VEL_I_GATE: GPS velocity innovation gate size¶
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements 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)¶
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¶
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)¶
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
Increment |
Range |
Units |
---|---|---|
5 |
10 - 100 |
meters |
EK3_ALT_M_NSE: Altitude measurement noise (m)¶
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¶
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)¶
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)¶
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¶
This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
EK3_MAG_I_GATE: Magnetometer measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 5.0 |
meters per second |
EK3_EAS_I_GATE: Airspeed measurement gate size¶
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_RNG_M_NSE: Range finder measurement noise (m)¶
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK3_RNG_I_GATE: Range finder measurement gate size¶
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_MAX_FLOW: Maximum valid optical flow rate¶
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
Increment |
Range |
Units |
---|---|---|
0.1 |
1.0 - 4.0 |
radians per second |
EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 1.0 |
radians per second |
EK3_FLOW_I_GATE: Optical Flow measurement gate size¶
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_FLOW_DELAY: Optical Flow measurement delay (msec)¶
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
10 |
0 - 250 |
True |
milliseconds |
EK3_GYRO_P_NSE: Rate gyro noise (rad/s)¶
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
Increment |
Range |
Units |
---|---|---|
0.0001 |
0.0001 - 0.1 |
radians per second |
EK3_ACC_P_NSE: Accelerometer noise (m/s^2)¶
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.01 - 1.0 |
meters per square second |
EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.001 |
radians per square second |
EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.005 |
meters per cubic second |
EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)¶
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.01 - 2.0 |
meters per square second |
EK3_WIND_PSCALE: Height rate to wind process noise scaler¶
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
Increment |
Range |
---|---|
0.1 |
0.0 - 2.0 |
EK3_GPS_CHECK: GPS preflight check¶
This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
Bitmask |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_IMU_MASK: Bitmask of active IMUs¶
1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.
Bitmask |
RebootRequired |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK3_CHECK_SCALE: GPS accuracy check scaler (%)¶
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
Range |
Units |
---|---|
50 - 200 |
percent |
EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
Range |
Units |
---|---|
0.5 - 50.0 |
meters |
EK3_BETA_MASK: Bitmask controlling sidelip angle fusion¶
1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.
Bitmask |
RebootRequired |
||||||
---|---|---|---|---|---|---|---|
|
True |
EK3_YAW_M_NSE: Yaw measurement noise (rad)¶
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 1.0 |
radians |
EK3_YAW_I_GATE: Yaw measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶
Sets the time constant of the output complementary filter/predictor in centi-seconds.
Increment |
Range |
Units |
---|---|---|
5 |
10 - 50 |
centiseconds |
EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.01 |
gauss per second |
EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.01 |
gauss per second |
EK3_RNG_USE_HGT: Range finder switch height percentage¶
Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
Increment |
Range |
Units |
---|---|---|
1 |
-1 - 70 |
percent |
EK3_TERR_GRAD: Maximum terrain gradient¶
Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
Increment |
Range |
---|---|
0.01 |
0 - 0.2 |
EK3_BCN_M_NSE: Range beacon measurement noise (m)¶
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK3_BCN_I_GTE: Range beacon measurement gate size¶
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_BCN_DELAY: Range beacon measurement delay (msec)¶
This is the number of msec that the range beacon measurements lag behind the inertial measurements.
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
10 |
0 - 250 |
True |
milliseconds |
EK3_RNG_USE_SPD: Range finder max ground speed¶
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
Increment |
Range |
Units |
---|---|---|
0.5 |
2.0 - 6.0 |
meters per second |
EK3_ACC_BIAS_LIM: Accelerometer bias limit¶
The accelerometer bias state will be limited to +- this value
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 2.5 |
meters per square second |
EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶
1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
Bitmask |
RebootRequired |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶
When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
Bitmask |
RebootRequired |
||||||||
---|---|---|---|---|---|---|---|---|---|
|
True |
EK3_VIS_VERR_MIN: Visual odometry minimum velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 0.5 |
meters per second |
EK3_VIS_VERR_MAX: Visual odometry maximum velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 5.0 |
meters per second |
EK3_WENC_VERR: Wheel odometry velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.01 - 1.0 |
meters per second |
EK3_FLOW_USE: Optical flow use bitmask¶
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
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¶
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
Range |
Units |
---|---|
0 - 500 |
milligauss |
EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run¶
1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE, EK3_GSF_DELAY and EK3_GSF_MAXCOUNT parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.
Bitmask |
RebootRequired |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used¶
1 byte bitmap of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance. Additionally the EKF3 will initiate a reset internally if navigation is lost for more than EK3_GSF_DELAY milli seconds.
Bitmask |
RebootRequired |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed¶
Sets the maximum number of times the EKF3 will be allowed to reset it's yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE parameter.
Increment |
Range |
RebootRequired |
---|---|---|
1 |
1 - 10 |
True |
EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold¶
lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences
Increment |
Range |
---|---|
0.05 |
0.05 - 1 |
EK3_AFFINITY: EKF3 Sensor Affinity Options¶
These options control the affinity between sensor instances and EKF cores
Bitmask |
RebootRequired |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag¶
Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
Range |
Units |
---|---|
0.0 - 1000.0 |
kilograms per square meter |
EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag¶
Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
Range |
Units |
---|---|
50.0 - 1000.0 |
kilograms per square meter |
EK3_DRAG_M_NSE: Observation noise for drag acceleration¶
This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 2.0 |
meters per square second |
EK3_DRAG_MCOEF: Momentum coefficient for propeller drag¶
This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.0 - 1.0 |
per second |
EK3_OGNM_TEST_SF: On ground not moving test scale factor¶
This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.
Increment |
Range |
---|---|
0.5 |
1.0 - 10.0 |
EK3_GND_EFF_DZ: Baro height ground effect dead zone¶
This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.
Increment |
Range |
---|---|
0.5 |
0.0 - 10.0 |
EK3_PRIMARY: Primary core number¶
The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.
Increment |
Range |
---|---|
1 |
0 - 2 |
EK3_SRC Parameters¶
EK3_SRC1_POSXY: Position Horizontal Source (Primary)¶
Position Horizontal Source (Primary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_VELXY: Velocity Horizontal Source¶
Velocity Horizontal Source
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_POSZ: Position Vertical Source¶
Position Vertical Source
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_VELZ: Velocity Vertical Source¶
Velocity Vertical Source
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_YAW: Yaw Source¶
Yaw Source
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_POSXY: Position Horizontal Source (Secondary)¶
Position Horizontal Source (Secondary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)¶
Velocity Horizontal Source (Secondary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_POSZ: Position Vertical Source (Secondary)¶
Position Vertical Source (Secondary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)¶
Velocity Vertical Source (Secondary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_YAW: Yaw Source (Secondary)¶
Yaw Source (Secondary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)¶
Position Horizontal Source (Tertiary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)¶
Velocity Horizontal Source (Tertiary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_POSZ: Position Vertical Source (Tertiary)¶
Position Vertical Source (Tertiary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)¶
Velocity Vertical Source (Tertiary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_YAW: Yaw Source (Tertiary)¶
Yaw Source (Tertiary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC_OPTIONS: EKF Source Options¶
EKF Source Options
Bitmask |
||||
---|---|---|---|---|
|
FENCE_ Parameters¶
FENCE_ENABLE: Fence enable/disable¶
Allows you to enable (1) or disable (0) the fence functionality
Values |
||||||
---|---|---|---|---|---|---|
|
FENCE_TYPE: Fence Type¶
Enabled fence types held as bitmask
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
FENCE_ACTION: Fence Action¶
What action should be taken when fence is breached
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
FFT_ Parameters¶
FFT_ENABLE: Enable¶
Enable Gyro FFT analyser
RebootRequired |
Values |
||||||
---|---|---|---|---|---|---|---|
True |
|
FFT_MINHZ: Minimum Frequency¶
Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.
Range |
Units |
---|---|
20 - 400 |
hertz |
FFT_MAXHZ: Maximum Frequency¶
Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.
Range |
Units |
---|---|
20 - 495 |
hertz |
FFT_SAMPLE_MODE: Sample Mode¶
Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.
Range |
RebootRequired |
---|---|
0 - 4 |
True |
FFT_WINDOW_SIZE: FFT window size¶
Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.
Range |
RebootRequired |
---|---|
32 - 1024 |
True |
FFT_WINDOW_OLAP: FFT window overlap¶
Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.
Range |
RebootRequired |
---|---|
0 - 0.9 |
True |
FFT_FREQ_HOVER: FFT learned hover frequency¶
The learned hover noise frequency
Range |
---|
0 - 250 |
FFT_THR_REF: FFT learned thrust reference¶
FFT learned thrust reference for the hover frequency and FFT minimum frequency.
Range |
---|
0.01 - 0.9 |
FFT_SNR_REF: FFT SNR reference threshold¶
FFT SNR reference threshold in dB at which a signal is determined to be present.
Range |
---|
0.0 - 100.0 |
FFT_ATT_REF: FFT attenuation for bandwidth calculation¶
FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.
Range |
---|
0 - 100 |
FFT_BW_HOVER: FFT learned bandwidth at hover¶
FFT learned bandwidth at hover for the attenuation frequencies.
Range |
---|
0 - 200 |
FFT_HMNC_FIT: FFT harmonic fit frequency threshold¶
FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.
Range |
RebootRequired |
---|---|
0 - 100 |
True |
FFT_HMNC_PEAK: FFT harmonic peak target¶
The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FHLD Parameters¶
FHLD_XY_P: FlowHold P gain¶
FlowHold (horizontal) P gain.
Increment |
Range |
---|---|
0.1 |
0.1 - 6.0 |
FHLD_XY_I: FlowHold I gain¶
FlowHold (horizontal) I gain
Increment |
Range |
---|---|
0.01 |
0.02 - 1.00 |
FHLD_XY_IMAX: FlowHold Integrator Max¶
FlowHold (horizontal) integrator maximum
Increment |
Range |
Units |
---|---|---|
10 |
0 - 4500 |
centidegrees |
FHLD_XY_FILT_HZ: FlowHold filter on input to control¶
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_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 |
|
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 |
Units |
---|---|---|
10 |
-17999 - +18000 |
centidegrees |
FLOW_POS_X: X position offset¶
X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
FLOW_POS_Y: Y position offset¶
Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
FLOW_POS_Z: Z position offset¶
Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
FLOW_ADDR: Address on the bus¶
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 |
FOLL Parameters¶
FOLL_ENABLE: Follow enable/disable¶
Enabled/disable following a target
Values |
||||||
---|---|---|---|---|---|---|
|
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 |
||||||
---|---|---|---|---|---|---|
|
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 |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
---|---|---|---|---|---|---|
|
FRSKY_ Parameters¶
FRSKY_UPLINK_ID: Uplink sensor id¶
Change the uplink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK1_ID: First downlink sensor id¶
Change the first extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK2_ID: Second downlink sensor id¶
Change the second extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK_ID: Default downlink sensor id¶
Change the default downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GEN_ Parameters¶
GEN_TYPE: Generator type¶
Generator type
RebootRequired |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
GPS Parameters¶
GPS_TYPE: 1st GPS type¶
GPS type of 1st GPS
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
GPS_TYPE2: 2nd GPS type¶
GPS type of 2nd GPS
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
GPS_AUTO_SWITCH: Automatic Switchover Setting¶
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS¶
Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
GPS_SBAS_MODE: SBAS Mode¶
This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_MIN_ELEV: Minimum elevation¶
This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.
Range |
Units |
---|---|
-100 - 90 |
degrees |
GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶
The GGS can send raw serial packets to inject data to multiple GPSes.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_RAW_DATA: Raw data logging¶
Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
RebootRequired |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
GPS_GNSS_MODE: GNSS system configuration¶
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_SAVE_CFG: Save GPS configuration¶
Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_GNSS_MODE2: GNSS system configuration¶
Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_AUTO_CONFIG: Automatic GPS configuration¶
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
Values |
||||||
---|---|---|---|---|---|---|
|
GPS_RATE_MS: GPS update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|---|
50 - 200 |
milliseconds |
|
GPS_RATE_MS2: GPS 2 update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|---|
50 - 200 |
milliseconds |
|
GPS_POS1_X: Antenna X position offset¶
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_POS1_Y: Antenna Y position offset¶
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_POS1_Z: Antenna Z position offset¶
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_POS2_X: Antenna X position offset¶
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¶
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¶
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¶
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¶
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¶
Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_BLEND_TC: Blending time constant¶
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¶
Additional backend specific options
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_COM_PORT: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF GPS
Increment |
Range |
RebootRequired |
---|---|---|
1 |
0 - 10 |
True |
GPS_COM_PORT2: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF GPS
Increment |
Range |
RebootRequired |
---|---|---|
1 |
0 - 10 |
True |
GPS_PRIMARY: Primary GPS¶
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
Increment |
Values |
||||||
---|---|---|---|---|---|---|---|
1 |
|
GPS_CAN_NODEID1: GPS Node ID 1¶
GPS Node id for discovered first.
ReadOnly |
---|
True |
GPS_CAN_NODEID2: GPS Node ID 2¶
GPS Node id for discovered second.
ReadOnly |
---|
True |
GPS1_CAN_OVRIDE: First UAVCAN GPS NODE ID¶
GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.
GPS2_CAN_OVRIDE: Second UAVCAN GPS NODE ID¶
GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.
GPS_MB1_ Parameters¶
GPS_MB1_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.
RebootRequired |
Values |
||||||
---|---|---|---|---|---|---|---|
True |
|
GPS_MB1_OFS_X: Base antenna X position offset¶
X position of the base 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_MB1_OFS_Y: Base antenna Y position offset¶
Y position of the base 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_MB1_OFS_Z: Base antenna Z position offset¶
Z position of the base 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_MB2_ Parameters¶
GPS_MB2_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.
RebootRequired |
Values |
||||||
---|---|---|---|---|---|---|---|
True |
|
GPS_MB2_OFS_X: Base antenna X position offset¶
X position of the base 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_MB2_OFS_Y: Base antenna Y position offset¶
Y position of the base 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_MB2_OFS_Z: Base antenna Z position offset¶
Z position of the base 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 |
GRIP_ Parameters¶
GRIP_ENABLE: Gripper Enable/Disable¶
Gripper enable/disable
Values |
||||||
---|---|---|---|---|---|---|
|
GRIP_GRAB: Gripper Grab PWM¶
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
Range |
Units |
---|---|
1000 - 2000 |
PWM in microseconds |
GRIP_RELEASE: Gripper Release PWM¶
PWM value in microseconds sent to Gripper to release the cargo
Range |
Units |
---|---|
1000 - 2000 |
PWM in microseconds |
GRIP_NEUTRAL: Neutral PWM¶
PWM value in microseconds sent to grabber when not grabbing or releasing
Range |
Units |
---|---|
1000 - 2000 |
PWM in microseconds |
GRIP_REGRAB: Gripper Regrab interval¶
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 |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
---|---|---|---|---|---|---|
|
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 |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
H_SW_COL_DIR (AP_MotorsHeli_Single): Collective Direction¶
Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed
Values |
||||||
---|---|---|---|---|---|---|
|
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 |
||||||
---|---|---|---|---|---|---|
|
H_SW_H3_ENABLE (AP_MotorsHeli_Single): H3 Generic Enable¶
Automatically set when H3 generic swash type is selected for swashplate. Do not set manually.
Values |
||||||
---|---|---|---|---|---|---|
|
H_SW_H3_SV1_POS (AP_MotorsHeli_Single): H3 Generic Servo 1 Position¶
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¶
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¶
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¶
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 |
||||||||
---|---|---|---|---|---|---|---|---|
|
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. Disabled for intermeshing mode.
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 |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
H_SW_COL_DIR (AP_MotorsHeli_Dual): Swash 1 Collective Direction¶
Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed
Values |
||||||
---|---|---|---|---|---|---|
|
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 |
||||||
---|---|---|---|---|---|---|
|
H_SW_H3_ENABLE (AP_MotorsHeli_Dual): Swash 1 H3 Generic Enable¶
Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.