Complete Parameter List¶
Full Parameter List of Copter stable V4.1.5
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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---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
---|---|---|---|---|---|---|---|---|
|
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 |
AUTOTUNE_MIN_D: AutoTune minimum D¶
Defines the minimum D gain
Range |
---|
0.001 - 0.006 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT2_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT3_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT4_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT5_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT6_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT7_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT8_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT9_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_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_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
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_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_REPORT_SEND: Report send time¶
The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.
Range |
---|
0 - 3600 |
CAM_ Parameters¶
CAM_TRIGG_TYPE: Camera shutter (trigger) type¶
how to trigger the camera to take a picture
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
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_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¶
EAHRS_TYPE: AHRS type¶
Type of AHRS device
Values |
||||||
---|---|---|---|---|---|---|
|
EAHRS_RATE: AHRS data rate¶
Requested rate for AHRS device
Units |
---|
hertz |
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_FILT_HZ: FlowHold Filter Frequency¶
Filter frequency for flow data
Range |
Units |
---|---|
1 - 100 |
hertz |
FHLD_QUAL_MIN: FlowHold Flow quality minimum¶
Minimum flow quality to use flow position hold
Range |
---|
0 - 255 |
FHLD_BRAKE_RATE: FlowHold Braking rate¶
Controls deceleration rate on stick release
Range |
Units |
---|---|
1 - 30 |
degrees per second |
FLOW Parameters¶
FLOW_TYPE: Optical flow sensor type¶
Optical flow sensor type
RebootRequired |
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
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_SYSID: Follow target's mavlink system id¶
Follow target's mavlink system id
Range |
---|
0 - 255 |
FOLL_DIST_MAX: Follow distance maximum¶
Follow distance maximum. targets further than this will be ignored
Range |
Units |
---|---|
1 - 1000 |
meters |
FOLL_OFS_TYPE: Follow offset type¶
Follow offset type
Values |
||||||
---|---|---|---|---|---|---|
|
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_TYPE: Gripper Type¶
Gripper enable/disable
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GRIP_GRAB: Gripper Grab PWM¶
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
Range |
Units |
---|---|
1000 - 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.
Values |
||||||
---|---|---|---|---|---|---|
|
H_SW_H3_SV1_POS (AP_MotorsHeli_Dual): Swash 1 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_Dual): Swash 1 H3 Generic Servo 2 Position¶
Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg
Range |
Units |
---|---|
-180 - 180 |
degrees |
H_SW_H3_SV3_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 3 Position¶
Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg
Range |
Units |
---|---|
-180 - 180 |
degrees |
H_SW_H3_PHANG (AP_MotorsHeli_Dual): Swash 1 H3 Generic Phase Angle Comp¶
Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem
Increment |
Range |
Units |
---|---|---|
1 |
-30 - 30 |
degrees |
H_SW2_TYPE: Swash 2 Type¶
H3 is generic, three-servo only. H3_120/H3_140 plates have Motor1 left side, Motor2 right side, Motor3 elevator in rear. HR3_120/HR3_140 have Motor1 right side, Motor2 left side, Motor3 elevator in front - use H3_120/H3_140 and reverse servo and collective directions as necessary. For all H3_90 swashplates use H4_90 and don't use servo output for the missing servo. For H4-90 Motors1&2 are left/right respectively, Motors3&4 are rear/front respectively. For H4-45 Motors1&2 are LF/RF, Motors3&4 are LR/RR
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
H_SW2_COL_DIR: Swash 2 Collective Direction¶
Direction collective moves for positive pitch. 0 for Normal, 1 for Reversed
Values |
||||||
---|---|---|---|---|---|---|
|
H_SW2_LIN_SVO: Linearize Swash 2 Servos¶
This linearizes the swashplate 2 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.
Values |
||||||
---|---|---|---|---|---|---|
|
H_SW2_H3_ENABLE: Swash 2 H3 Generic Enable¶
Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually.
Values |
||||||
---|---|---|---|---|---|---|
|
H_SW2_H3_SV1_POS: Swash 2 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_SW2_H3_SV2_POS: Swash 2 H3 Generic Servo 2 Position¶
Azimuth position on swashplate 2 for servo 2 with the front of the heli being 0 deg
Range |
Units |
---|---|
-180 - 180 |
degrees |
H_SW2_H3_SV3_POS: Swash 2 H3 Generic Servo 3 Position¶
Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg
Range |
Units |
---|---|
-180 - 180 |
degrees |
H_SW2_H3_PHANG: Swash 2 H3 Generic Phase Angle Comp¶
Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem
Increment |
Range |
Units |
---|---|---|
1 |
-30 - 30 |
degrees |
H_DCP_TRIM: Differential Collective Pitch Trim¶
Removes I term bias due to center of gravity offsets or discrepancies between rotors in swashplate setup. If DCP axis has I term bias while hovering in calm winds, use value of bias in DCP_TRIM to re-center I term.
Increment |
Range |
---|---|
0.01 |
-0.2 - 0.2 |
H_YAW_REV_EXPO: Yaw reverser expo¶
For intermeshing mode only. Yaw revereser smoothing exponent, smoothen transition near zero collective region. Increase this parameter to shink smoothing range. Set to -1 to disable reverser.
Increment |
Range |
---|---|
1.0 |
-1 - 1000 |
H_COL_MIN: Minimum Collective Pitch¶
Lowest possible servo position in PWM microseconds for the swashplate
Increment |
Range |
Units |
---|---|---|
1 |
1000 - 2000 |
PWM in microseconds |
H_COL_MAX: Maximum Collective Pitch¶
Highest possible servo position in PWM microseconds for the swashplate
Increment |
Range |
Units |
---|---|---|
1 |
1000 - 2000 |
PWM in microseconds |
H_COL_MID: Zero-Thrust Collective Pitch¶
Swash servo position in PWM microseconds corresponding to zero collective pitch (or zero lift for Asymmetrical blades)
Increment |
Range |
Units |
---|---|---|
1 |
1000 - 2000 |
PWM in microseconds |
H_SV_MAN: Manual Servo Mode¶
Manual servo override for swash set-up. Must be 0 (Disabled) for flight!
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
H_CYC_MAX: Maximum Cyclic Pitch Angle¶
Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection.
Increment |
Range |
---|---|
100 |
0 - 4500 |
H_SV_TEST: Boot-up Servo Test Cycles¶
Number of cycles to run servo test on boot-up
Increment |
Range |
---|---|
1 |
0 - 10 |
H_COL_HOVER: Collective Hover Value¶
Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX
Range |
---|
0.3 - 0.8 |
H_HOVER_LEARN: Hover Value Learning¶
Enable/Disable automatic learning of hover collective
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
H_OPTIONS: Heli_Options¶
Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX.
Bitmask |
||||
---|---|---|---|---|
|
H_RSC_ Parameters¶
H_RSC_SETPOINT: External Motor Governor Setpoint¶
Throttle (HeliRSC Servo) output in percent to the external motor governor when motor interlock enabled (throttle hold off).
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
H_RSC_MODE: Rotor Speed Control Mode¶
Selects the type of rotor speed control used to determine throttle output to the HeliRSC servo channel when motor interlock is enabled (throttle hold off). RC Passthrough sends the input from the RC Motor Interlock channel as throttle output. External Gov SetPoint sends the RSC SetPoint parameter value as throttle output. Throttle Curve uses the 5 point throttle curve to determine throttle output based on the collective output. Governor is ArduCopter's built-in governor that uses the throttle curve for a feed forward throttle command to determine throttle output.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
H_RSC_RAMP_TIME: Throttle Ramp Time¶
Time in seconds for throttle output (HeliRSC servo) to ramp from ground idle (RSC_IDLE) to flight idle throttle setting when motor interlock is enabled (throttle hold off).
Range |
Units |
---|---|
0 - 60 |
seconds |
H_RSC_RUNUP_TIME: Rotor Runup Time¶
Actual time in seconds for the main rotor to reach full speed after motor interlock is enabled (throttle hold off). Must be at least one second longer than the Throttle Ramp Time that is set with RSC_RAMP_TIME.
Range |
Units |
---|---|
0 - 60 |
seconds |
H_RSC_CRITICAL: Critical Rotor Speed¶
Percentage of normal rotor speed where flight is no longer possible. However currently the rotor runup/rundown is estimated using the RSC_RUNUP_TIME parameter. Estimated rotor speed increases/decreases between 0 (rotor stopped) to 1 (rotor at normal speed) in the RSC_RUNUP_TIME in seconds. This parameter should be set so that the estimated rotor speed goes below critical in approximately 3 seconds. So if you had a 10 second runup time then set RSC_CRITICAL to 70%.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
H_RSC_IDLE: Throttle Output at Idle¶
Throttle output (HeliRSC Servo) in percent while armed but motor interlock is disabled (throttle hold on). FOR COMBUSTION ENGINES. Sets the engine ground idle throttle percentage with clutch disengaged. This must be set to zero for electric helicopters under most situations. If the ESC has an autorotation window this can be set to keep the autorotation window open in the ESC. Consult the operating manual for your ESC to set it properly for this purpose
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
percent |
H_RSC_SLEWRATE: Throttle Slew Rate¶
This controls the maximum rate at which the throttle output (HeliRSC servo) can change, as a percentage per second. A value of 100 means the throttle can change over its full range in one second. A value of zero gives unlimited slew rate.
Increment |
Range |
---|---|
10 |
0 - 500 |
H_RSC_THRCRV_0: Throttle Curve at 0% Coll¶
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 0 percent collective is defined by H_COL_MIN. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to -2 degree of pitch.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
H_RSC_THRCRV_25: Throttle Curve at 25% Coll¶
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 25% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 25% of 12 degrees is 3 degrees, so this setting would correspond to +1 degree of pitch.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
H_RSC_THRCRV_50: Throttle Curve at 50% Coll¶
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 50% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 50% of 12 degrees is 6 degrees, so this setting would correspond to +4 degree of pitch.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
H_RSC_THRCRV_75: Throttle Curve at 75% Coll¶
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at 75% of full collective travel where he 0 percent collective is defined by H_COL_MIN and 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, the total range is 12 degrees. 75% of 12 degrees is 9 degrees, so this setting would correspond to +7 degree of pitch.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
H_RSC_THRCRV_100: Throttle Curve at 100% Coll¶
Sets the throttle output (HeliRSC servo) in percent for the throttle curve at the minimum collective pitch position. The 100 percent collective is defined by H_COL_MAX. Example: if the setup has -2 degree to +10 degree collective pitch setup, this setting would correspond to +10 degree of pitch.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
H_RSC_GOV_SETPNT: Rotor Governor Setpoint¶
Main rotor rpm setting that governor maintains when engaged. Set to the rotor rpm your helicopter runs in flight. When a speed sensor is installed the rotor governor maintains this speed. For governor operation this should be set 10 rpm higher than the actual desired headspeed to allow for governor droop
Increment |
Range |
Units |
---|---|---|
10 |
800 - 3500 |
Revolutions Per Minute |
H_RSC_GOV_DISGAG: Governor Disengage Throttle¶
Percentage of throttle where the governor will disengage to allow return to flight idle power. Typically should be set to the same value as flight idle throttle (the very lowest throttle setting on the throttle curve). The governor disengage can be disabled by setting this value to zero and using the pull-down from the governor TCGAIN to reduce power to flight idle with the collective at it's lowest throttle setting on the throttle curve.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
percent |
H_RSC_GOV_DROOP: Governor Droop Response¶
Governor droop response under load, normal settings of 0-100%. Higher value is quicker response but may cause surging. Setting to zero disables the governor. Adjust this to be as aggressive as possible without getting surging or over-run on headspeed when the governor engages. Setting over 100% is allowable for some two-stage turbine engines to provide scheduling of the gas generator for proper torque response of the N2 spool
Increment |
Range |
Units |
---|---|---|
1 |
0 - 150 |
percent |
H_RSC_GOV_TCGAIN: Governor Throttle Curve Gain¶
Percentage of throttle curve gain in governor output. This provides a type of feedforward response to sudden loading or unloading of the engine. If headspeed drops excessively during sudden heavy load, increase the throttle curve gain. If the governor runs with excessive droop more than 15 rpm lower than the speed setting, increase this setting until the governor runs at 8-10 rpm droop from the speed setting. The throttle curve must be properly tuned to fly the helicopter without the governor for this setting to work properly.
Increment |
Range |
Units |
---|---|---|
1 |
50 - 100 |
percent |
H_RSC_GOV_RANGE: Governor Operational Range¶
RPM range +/- governor rpm reference setting where governor is operational. If speed sensor fails or rpm falls outside of this range, the governor will disengage and return to throttle curve. Recommended range is 100
Increment |
Range |
Units |
---|---|---|
10 |
50 - 200 |
Revolutions Per Minute |
H_RSC_AROT_PCT: Autorotation Throttle Percentage for External Governor¶
The throttle percentage sent to external governors, signaling to enable fast spool-up, when bailing out of an autorotation. Set 0 to disable. If also using a tail rotor of type DDVP with external governor then this value must lie within the autorotation window of both governors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 40 |
percent |
IM_ Parameters¶
IM_ACRO_COL_EXP: Acro Mode Collective Expo¶
Used to soften collective pitch inputs near center point in Acro mode.
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
IM_STB_COL_1: Stabilize Collective Low¶
Helicopter's minimum collective pitch setting at zero collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
IM_STB_COL_2: Stabilize Collective Mid-Low¶
Helicopter's collective pitch setting at mid-low (40%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
IM_STB_COL_3: Stabilize Collective Mid-High¶
Helicopter's collective pitch setting at mid-high (60%) collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
IM_STB_COL_4: Stabilize Collective High¶
Helicopter's maximum collective pitch setting at full collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
INS_ Parameters¶
INS_GYROFFS_X: Gyro offsets of X axis¶
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYROFFS_Y: Gyro offsets of Y axis¶
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYROFFS_Z: Gyro offsets of Z axis¶
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR2OFFS_X: Gyro2 offsets of X axis¶
Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR2OFFS_Y: Gyro2 offsets of Y axis¶
Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR2OFFS_Z: Gyro2 offsets of Z axis¶
Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR3OFFS_X: Gyro3 offsets of X axis¶
Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR3OFFS_Y: Gyro3 offsets of Y axis¶
Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR3OFFS_Z: Gyro3 offsets of Z axis¶
Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_ACCSCAL_X: Accelerometer scaling of X axis¶
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACCSCAL_Y: Accelerometer scaling of Y axis¶
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACCSCAL_Z: Accelerometer scaling of Z axis¶
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACCOFFS_X: Accelerometer offsets of X axis¶
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACCOFFS_Y: Accelerometer offsets of Y axis¶
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACCOFFS_Z: Accelerometer offsets of Z axis¶
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC2SCAL_X: Accelerometer2 scaling of X axis¶
Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis¶
Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis¶
Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC2OFFS_X: Accelerometer2 offsets of X axis¶
Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis¶
Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis¶
Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC3SCAL_X: Accelerometer3 scaling of X axis¶
Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis¶
Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis¶
Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC3OFFS_X: Accelerometer3 offsets of X axis¶
Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis¶
Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis¶
Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_GYRO_FILTER: Gyro filter cutoff frequency¶
Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Range |
Units |
---|---|
0 - 256 |
hertz |
INS_ACCEL_FILTER: Accel filter cutoff frequency¶
Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Range |
Units |
---|---|
0 - 256 |
hertz |
INS_USE: Use first IMU for attitude, velocity and position estimates¶
Use first IMU for attitude, velocity and position estimates
Values |
||||||
---|---|---|---|---|---|---|
|
INS_USE2: Use second IMU for attitude, velocity and position estimates¶
Use second IMU for attitude, velocity and position estimates
Values |
||||||
---|---|---|---|---|---|---|
|
INS_USE3: Use third IMU for attitude, velocity and position estimates¶
Use third IMU for attitude, velocity and position estimates
Values |
||||||
---|---|---|---|---|---|---|
|
INS_STILL_THRESH: Stillness threshold for detecting if we are moving¶
Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
Range |
---|
0.05 - 50 |
INS_GYR_CAL: Gyro Calibration scheme¶
Conrols when automatic gyro calibration is performed
Values |
||||||
---|---|---|---|---|---|---|
|
INS_TRIM_OPTION: Accel cal trim option¶
Specifies how the accel cal routine determines the trims
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_ACC_BODYFIX: Body-fixed accelerometer¶
The body-fixed accelerometer to be used for trim calculation
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_POS1_X: IMU accelerometer X position¶
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS1_Y: IMU accelerometer Y position¶
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS1_Z: IMU accelerometer Z position¶
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS2_X: IMU accelerometer X position¶
X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS2_Y: IMU accelerometer Y position¶
Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS2_Z: IMU accelerometer Z position¶
Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS3_X: IMU accelerometer X position¶
X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Range |
Units |
---|---|
-10 - 10 |
meters |
INS_POS3_Y: IMU accelerometer Y position¶
Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS3_Z: IMU accelerometer Z position¶
Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_GYR_ID: Gyro ID¶
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_GYR2_ID: Gyro2 ID¶
Gyro2 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_GYR3_ID: Gyro3 ID¶
Gyro3 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_ACC2_ID: Accelerometer2 ID¶
Accelerometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_ACC3_ID: Accelerometer3 ID¶
Accelerometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_FAST_SAMPLE: Fast sampling mask¶
Mask of IMUs to enable fast sampling on, if available
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_ENABLE_MASK: IMU enable mask¶
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled¶
Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
RebootRequired |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer¶
Temperature that the 1st accelerometer was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope¶
Temperature that the 1st gyroscope was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer¶
Temperature that the 2nd accelerometer was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope¶
Temperature that the 2nd gyroscope was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer¶
Temperature that the 3rd accelerometer was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope¶
Temperature that the 3rd gyroscope was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_TCAL_OPTIONS: Options for temperature calibration¶
This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.
Bitmask |
||||
---|---|---|---|---|
|
INS_HNTCH_ Parameters¶
INS_HNTCH_ENABLE: Harmonic Notch Filter enable¶
Harmonic Notch Filter enable
Values |
||||||
---|---|---|---|---|---|---|
|
INS_HNTCH_FREQ: Harmonic Notch Filter base frequency¶
Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.
Range |
Units |
---|---|
10 - 495 |
hertz |
INS_HNTCH_BW: Harmonic Notch Filter bandwidth¶
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Range |
Units |
---|---|
5 - 250 |
hertz |
INS_HNTCH_ATT: Harmonic Notch Filter attenuation¶
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Range |
Units |
---|---|
5 - 50 |
decibel |
INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics¶
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.
Bitmask |
RebootRequired |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
INS_HNTCH_REF: Harmonic Notch Filter reference value¶
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Range |
RebootRequired |
---|---|
0.0 - 1.0 |
True |
INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode¶
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.
Range |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
INS_HNTCH_OPTS: Harmonic Notch Filter options¶
Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz.
Bitmask |
RebootRequired |
||||||||
---|---|---|---|---|---|---|---|---|---|
|
True |
INS_LOG_ Parameters¶
INS_LOG_BAT_CNT: sample count per batch¶
Number of samples to take when logging streams of IMU sensor readings. Will be rounded down to a multiple of 32. This option takes effect on the next reboot.
Increment |
RebootRequired |
---|---|
32 |
True |
INS_LOG_BAT_MASK: Sensor Bitmask¶
Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.
Bitmask |
RebootRequired |
||||||||
---|---|---|---|---|---|---|---|---|---|
|
True |
INS_LOG_BAT_OPT: Batch Logging Options Mask¶
Options for the BatchSampler. Post-filter and sensor-rate logging cannot be used at the same time.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
INS_LOG_BAT_LGIN: logging interval¶
Interval between pushing samples to the AP_Logger log
Increment |
Units |
---|---|
10 |
milliseconds |
INS_LOG_BAT_LGCT: logging count¶
Number of samples to push to count every INS_LOG_BAT_LGIN
Increment |
---|
1 |
INS_NOTCH_ Parameters¶
INS_NOTCH_ENABLE: Enable¶
Enable notch filter
Values |
||||||
---|---|---|---|---|---|---|
|
INS_NOTCH_ATT: Attenuation¶
Notch attenuation in dB
Range |
Units |
---|---|
5 - 30 |
decibel |
INS_NOTCH_FREQ: Frequency¶
Notch center frequency in Hz
Range |
Units |
---|---|
10 - 400 |
hertz |
INS_NOTCH_BW: Bandwidth¶
Notch bandwidth in Hz
Range |
Units |
---|---|
5 - 100 |
hertz |
INS_TCAL1_ Parameters¶
INS_TCAL1_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
INS_TCAL1_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
---|---|---|
1 |
-70 - 80 |
degrees Celsius |
INS_TCAL1_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
---|---|---|
1 |
-70 - 80 |
degrees Celsius |
INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ Parameters¶
INS_TCAL2_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
INS_TCAL2_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
---|---|---|
1 |
-70 - 80 |
degrees Celsius |
INS_TCAL2_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
---|---|---|
1 |
-70 - 80 |
degrees Celsius |
INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ Parameters¶
INS_TCAL3_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
RebootRequired |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
True |
|
INS_TCAL3_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
---|---|---|
1 |
-70 - 80 |
degrees Celsius |
INS_TCAL3_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
---|---|---|
1 |
-70 - 80 |
degrees Celsius |
INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
---|
1 |
LGR_ Parameters¶
LGR_STARTUP: Landing Gear Startup position¶
Landing Gear Startup behaviour control
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
LGR_DEPLOY_PIN: Chassis deployment feedback pin¶
Pin number to use for detection of gear deployment. If set to -1 feedback is disabled.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
LGR_DEPLOY_POL: Chassis deployment feedback pin polarity¶
Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.
Values |
||||||
---|---|---|---|---|---|---|
|
LGR_WOW_PIN: Weight on wheels feedback pin¶
Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled.
RebootRequired |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
LGR_WOW_POL: Weight on wheels feedback pin polarity¶
Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.
Values |
||||||
---|---|---|---|---|---|---|
|
LGR_DEPLOY_ALT: Landing gear deployment altitude¶
Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 1000 |
meters |
LGR_RETRACT_ALT: Landing gear retract altitude¶
Altitude where the landing gear will be retracted. This should be higher than the DEPLOY_ALT. If zero then altitude is not used for retracting landing gear. Only applies when vehicle is armed.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 1000 |
meters |
LGR_OPTIONS: Landing gear auto retract/deploy options¶
Options to retract or deploy landing gear in Auto or Guided mode
Bitmask |
||||||
---|---|---|---|---|---|---|
|
LOG Parameters¶
LOG_BACKEND_TYPE: AP_Logger Backend Storage type¶
Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)¶
The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.
LOG_DISARMED: Enable logging while disarmed¶
If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues
Values |
||||||
---|---|---|---|---|---|---|
|
LOG_REPLAY: Enable logging of information needed for Replay¶
If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost
Values |
||||||
---|---|---|---|---|---|---|
|
LOG_FILE_DSRMROT: Stop logging to current file on disarm¶
When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.
Values |
||||||
---|---|---|---|---|---|---|
|
LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size¶
Maximum amount of memory to allocate to AP_Logger-over-mavlink
Units |
---|
kilobytes |
LOG_FILE_TIMEOUT: Timeout before giving up on file writes¶
This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.
Units |
---|
seconds |
LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space¶
Set this such that the free space is larger than your largest typical flight log
Range |
Units |
---|---|
10 - 1000 |
megabyte |
LOIT_ Parameters¶
LOIT_ANG_MAX: Loiter Angle Max¶
Loiter maximum lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX or ANGLE_MAX
Increment |
Range |
Units |
---|---|---|
1 |
0 - 45 |
degrees |
LOIT_SPEED: Loiter Horizontal Maximum Speed¶
Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode
Increment |
Range |
Units |
---|---|---|
50 |
20 - 3500 |
centimeters per second |
LOIT_ACC_MAX: Loiter maximum correction acceleration¶
Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.
Increment |
Range |
Units |
---|---|---|
1 |
100 - 981 |
centimeters per square second |
LOIT_BRK_ACCEL: Loiter braking acceleration¶
Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.
Increment |
Range |
Units |
---|---|---|
1 |
25 - 250 |
centimeters per square second |
LOIT_BRK_JERK: Loiter braking jerk¶
Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 5000 |
centimeters per cubic second |
LOIT_BRK_DELAY: Loiter brake start delay (in seconds)¶
Loiter brake start delay (in seconds)
Increment |
Range |
Units |
---|---|---|
0.1 |
0 - 2 |
seconds |
MIS_ Parameters¶
MIS_TOTAL: Total mission commands¶
The number of mission mission items that has been loaded by the ground station. Do not change this manually.
Increment |
Range |
ReadOnly |
---|---|---|
1 |
0 - 32766 |
True |
MIS_RESTART: Mission Restart when entering Auto mode¶
Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)
Values |
||||||
---|---|---|---|---|---|---|
|
MIS_OPTIONS: Mission options bitmask¶
Bitmask of what options to use in missions.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
MNT Parameters¶
MNT_TYPE: Mount Type¶
Mount Type (None, Servo or MAVLink)
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
MNT_DEFLT_MODE: Mount default operating mode¶
Mount default operating mode on startup and after control is returned from autopilot
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MNT_RETRACT_X: Mount roll angle when in retracted position¶
Mount roll angle when in retracted position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT_RETRACT_Y: Mount tilt/pitch angle when in retracted position¶
Mount tilt/pitch angle when in retracted position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT_RETRACT_Z: Mount yaw/pan angle when in retracted position¶
Mount yaw/pan angle when in retracted position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT_NEUTRAL_X: Mount roll angle when in neutral position¶
Mount roll angle when in neutral position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT_NEUTRAL_Y: Mount tilt/pitch angle when in neutral position¶
Mount tilt/pitch angle when in neutral position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT_NEUTRAL_Z: Mount pan/yaw angle when in neutral position¶
Mount pan/yaw angle when in neutral position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT_STAB_ROLL: Stabilize mount's roll angle¶
enable roll stabilisation relative to Earth
Values |
||||||
---|---|---|---|---|---|---|
|
MNT_STAB_TILT: Stabilize mount's pitch/tilt angle¶
enable tilt/pitch stabilisation relative to Earth
Values |
||||||
---|---|---|---|---|---|---|
|
MNT_STAB_PAN: Stabilize mount pan/yaw angle¶
enable pan/yaw stabilisation relative to Earth
Values |
||||||
---|---|---|---|---|---|---|
|
MNT_RC_IN_ROLL: roll RC input channel¶
0 for none, any other for the RC channel to be used to control roll movements
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MNT_ANGMIN_ROL: Minimum roll angle¶
Minimum physical roll angular position of mount.
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT_ANGMAX_ROL: Maximum roll angle¶
Maximum physical roll angular position of the mount
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT_RC_IN_TILT: tilt (pitch) RC input channel¶
0 for none, any other for the RC channel to be used to control tilt (pitch) movements
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MNT_ANGMIN_TIL: Minimum tilt angle¶
Minimum physical tilt (pitch) angular position of mount.
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT_ANGMAX_TIL: Maximum tilt angle¶
Maximum physical tilt (pitch) angular position of the mount
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT_RC_IN_PAN: pan (yaw) RC input channel¶
0 for none, any other for the RC channel to be used to control pan (yaw) movements
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MNT_ANGMIN_PAN: Minimum pan angle¶
Minimum physical pan (yaw) angular position of mount.
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT_ANGMAX_PAN: Maximum pan angle¶
Maximum physical pan (yaw) angular position of the mount
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT_JSTICK_SPD: mount joystick speed¶
0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.
Increment |
Range |
---|---|
1 |
0 - 100 |
MNT_LEAD_RLL: Roll stabilization lead time¶
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.
Increment |
Range |
Units |
---|---|---|
.005 |
0.0 - 0.2 |
seconds |
MNT_LEAD_PTCH: Pitch stabilization lead time¶
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.
Increment |
Range |
Units |
---|---|---|
.005 |
0.0 - 0.2 |
seconds |
MNT2_DEFLT_MODE: Mount default operating mode¶
Mount default operating mode on startup and after control is returned from autopilot
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MNT2_RETRACT_X: Mount2 roll angle when in retracted position¶
Mount2 roll angle when in retracted position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT2_RETRACT_Y: Mount2 tilt/pitch angle when in retracted position¶
Mount2 tilt/pitch angle when in retracted position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT2_RETRACT_Z: Mount2 yaw/pan angle when in retracted position¶
Mount2 yaw/pan angle when in retracted position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT2_NEUTRAL_X: Mount2 roll angle when in neutral position¶
Mount2 roll angle when in neutral position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT2_NEUTRAL_Y: Mount2 tilt/pitch angle when in neutral position¶
Mount2 tilt/pitch angle when in neutral position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT2_NEUTRAL_Z: Mount2 pan/yaw angle when in neutral position¶
Mount2 pan/yaw angle when in neutral position
Increment |
Range |
Units |
---|---|---|
1 |
-180.00 - 179.99 |
degrees |
MNT2_STAB_ROLL: Stabilize Mount2's roll angle¶
enable roll stabilisation relative to Earth
Values |
||||||
---|---|---|---|---|---|---|
|
MNT2_STAB_TILT: Stabilize Mount2's pitch/tilt angle¶
enable tilt/pitch stabilisation relative to Earth
Values |
||||||
---|---|---|---|---|---|---|
|
MNT2_STAB_PAN: Stabilize mount2 pan/yaw angle¶
enable pan/yaw stabilisation relative to Earth
Values |
||||||
---|---|---|---|---|---|---|
|
MNT2_RC_IN_ROLL: Mount2's roll RC input channel¶
0 for none, any other for the RC channel to be used to control roll movements
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MNT2_ANGMIN_ROL: Mount2's minimum roll angle¶
Mount2's minimum physical roll angular position
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT2_ANGMAX_ROL: Mount2's maximum roll angle¶
Mount2's maximum physical roll angular position
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT2_RC_IN_TILT: Mount2's tilt (pitch) RC input channel¶
0 for none, any other for the RC channel to be used to control tilt (pitch) movements
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MNT2_ANGMIN_TIL: Mount2's minimum tilt angle¶
Mount2's minimum physical tilt (pitch) angular position
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT2_ANGMAX_TIL: Mount2's maximum tilt angle¶
Mount2's maximum physical tilt (pitch) angular position
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT2_RC_IN_PAN: Mount2's pan (yaw) RC input channel¶
0 for none, any other for the RC channel to be used to control pan (yaw) movements
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MNT2_ANGMIN_PAN: Mount2's minimum pan angle¶
Mount2's minimum physical pan (yaw) angular position
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT2_ANGMAX_PAN: Mount2's maximum pan angle¶
MOunt2's maximum physical pan (yaw) angular position
Increment |
Range |
Units |
---|---|---|
10 |
-18000 - 17999 |
centidegrees |
MNT2_LEAD_RLL: Mount2's Roll stabilization lead time¶
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate, compensating for servo delay. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.
Increment |
Range |
Units |
---|---|---|
.005 |
0.0 - 0.2 |
seconds |
MNT2_LEAD_PTCH: Mount2's Pitch stabilization lead time¶
Causes the servo angle output to lead the current angle of the vehicle by some amount of time based on current angular rate. Increase until the servo is responsive but doesn't overshoot. Does nothing with pan stabilization enabled.
Increment |
Range |
Units |
---|---|---|
.005 |
0.0 - 0.2 |
seconds |
MNT2_TYPE: Mount2 Type¶
Mount Type (None, Servo or MAVLink)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MOT_ Parameters¶
MOT_YAW_HEADROOM: Matrix Yaw Min¶
Yaw control is given at least this pwm in microseconds range
Range |
Units |
---|---|
0 - 500 |
PWM in microseconds |
MOT_THST_EXPO: Thrust Curve Expo¶
Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)
Range |
---|
-1.0 - 1.0 |
MOT_SPIN_MAX: Motor Spin maximum¶
Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range
Values |
---|
0.9:Low,0.95:Default,1.0:High |
MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage¶
Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled
Range |
Units |
---|---|
6 - 53 |
volt |
MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage¶
Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled
Range |
Units |
---|---|
6 - 42 |
volt |
MOT_BAT_CURR_MAX: Motor Current Max¶
Maximum current over which maximum throttle is limited (0 = Disabled)
Range |
Units |
---|---|
0 - 200 |
ampere |
MOT_PWM_TYPE: Output PWM type¶
This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
RebootRequired |
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
MOT_PWM_MIN: PWM output minimum¶
This sets the min PWM output value in microseconds that will ever be output to the motors, 0 = use input RC3_MIN
Range |
Units |
---|---|
0 - 2000 |
PWM in microseconds |
MOT_PWM_MAX: PWM output maximum¶
This sets the max PWM value in microseconds that will ever be output to the motors, 0 = use input RC3_MAX
Range |
Units |
---|---|
0 - 2000 |
PWM in microseconds |
MOT_SPIN_MIN: Motor Spin minimum¶
Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.
Values |
---|
0.0:Low,0.15:Default,0.3:High |
MOT_SPIN_ARM: Motor Spin armed¶
Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.
Values |
---|
0.0:Low,0.1:Default,0.2:High |
MOT_BAT_CURR_TC: Motor Current Max Time Constant¶
Time constant used to limit the maximum current
Range |
Units |
---|---|
0 - 10 |
seconds |
MOT_THST_HOVER: Thrust Hover Value¶
Motor thrust needed to hover expressed as a number from 0 to 1
Range |
---|
0.2 - 0.8 |
MOT_HOVER_LEARN: Hover Value Learning¶
Enable/Disable automatic learning of hover throttle
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
MOT_SAFE_DISARM: Motor PWM output disabled when disarmed¶
Disables motor PWM output when disarmed
Values |
||||||
---|---|---|---|---|---|---|
|
MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle¶
Yaw servo's maximum lean angle
Increment |
Range |
Units |
---|---|---|
1 |
5 - 80 |
degrees |
MOT_SPOOL_TIME: Spool up time¶
Time in seconds to spool up the motors from zero to min throttle.
Increment |
Range |
Units |
---|---|---|
0.1 |
0 - 2 |
seconds |
MOT_BOOST_SCALE: Motor boost scale¶
Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.
Increment |
Range |
---|---|
0.1 |
0 - 5 |
MOT_BAT_IDX: Battery compensation index¶
Which battery monitor should be used for doing compensation
Values |
||||||
---|---|---|---|---|---|---|
|
MOT_SLEW_UP_TIME: Output slew time for increasing throttle¶
Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
Increment |
Range |
Units |
---|---|---|
0.001 |
0 - .5 |
seconds |
MOT_SLEW_DN_TIME: Output slew time for decreasing throttle¶
Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.
Increment |
Range |
Units |
---|---|---|
0.001 |
0 - .5 |
seconds |
MOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.¶
Time taken to disable and enable the motor PWM output when disarmed and armed.
Increment |
Range |
Units |
---|---|---|
0.001 |
0 - 5 |
seconds |
MSP Parameters¶
MSP_OSD_NCELLS: Cell count override¶
Used for average cell voltage calculation
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MSP_OPTIONS: MSP OSD Options¶
A bitmask to set some MSP specific options
Bitmask |
||||
---|---|---|---|---|
|
NTF_ Parameters¶
NTF_LED_BRIGHT: LED Brightness¶
Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_TYPES: Buzzer Driver Types¶
Controls what types of Buzzer will be enabled
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
NTF_LED_OVERRIDE: Specifies colour source for the RGBLed¶
Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
NTF_DISPLAY_TYPE: Type of on-board I2C display¶
This sets up the type of on-board I2C display. Disabled by default.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
NTF_OREO_THEME: OreoLED Theme¶
Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_PIN: Buzzer pin¶
Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!
Values |
||||
---|---|---|---|---|
|
NTF_LED_TYPES: LED Driver Types¶
Controls what types of LEDs will be enabled
Bitmask |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_ON_LVL: Buzzer-on pin logic level¶
Specifies pin level that indicates buzzer should play
Values |
||||||
---|---|---|---|---|---|---|
|
NTF_BUZZ_VOLUME: Buzzer volume¶
Control the volume of the buzzer
Range |
Units |
---|---|
0 - 100 |
percent |
NTF_LED_LEN: Serial LED String Length¶
The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
Range |
RebootRequired |
---|---|
1 - 32 |
True |
OA_ Parameters¶
OA_TYPE: Object Avoidance Path Planning algorithm to use¶
Enabled/disable path planning around obstacles
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
OA_MARGIN_MAX: Object Avoidance wide margin distance¶
Object Avoidance will ignore objects more than this many meters from vehicle
Increment |
Range |
Units |
---|---|---|
1 |
0.1 - 100 |
meters |
OA_BR_ Parameters¶
OA_BR_LOOKAHEAD: Object Avoidance look ahead distance maximum¶
Object Avoidance will look this many meters ahead of vehicle
Increment |
Range |
Units |
---|---|---|
1 |
1 - 100 |
meters |
OA_BR_CONT_RATIO: Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly¶
BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.
Increment |
Range |
---|---|
0.1 |
1.1 - 2 |
OA_BR_CONT_ANGLE: BendyRuler's bearing change resistance threshold angle¶
BendyRuler will resist changing current bearing if the change in bearing is over this angle
Increment |
Range |
---|---|
5 |
20 - 180 |
OA_BR_TYPE: Type of BendyRuler¶
BendyRuler will search for clear path along the direction defined by this parameter
Values |
||||||
---|---|---|---|---|---|---|
|
OA_DB_ Parameters¶
OA_DB_SIZE: OADatabase maximum number of points¶
OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process
Range |
RebootRequired |
---|---|
0 - 10000 |
True |
OA_DB_EXPIRE: OADatabase item timeout¶
OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 127 |
seconds |
OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points¶
OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.
Range |
RebootRequired |
---|---|
1 - 200 |
True |
OA_DB_OUTPUT: OADatabase output level¶
OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
OA_DB_BEAM_WIDTH: OADatabase beam width¶
Beam width of incoming lidar data
Range |
RebootRequired |
Units |
---|---|---|
1 - 10 |
True |
degrees |
OA_DB_RADIUS_MIN: OADatabase Minimum radius¶
Minimum radius of objects held in database
Range |
Units |
---|---|
0 - 10 |
meters |
OA_DB_DIST_MAX: OADatabase Distance Maximum¶
Maximum distance of objects held in database. Set to zero to disable the limits
Range |
Units |
---|---|
0 - 10 |
meters |
OA_DB_ALT_MIN: OADatabase minimum altitude above home before storing obstacles¶
OADatabase will reject obstacle's if vehicle's altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature.
Range |
Units |
---|---|
0 - 4 |
meters |
OSD Parameters¶
OSD_TYPE: OSD type¶
OSD type. TXONLY makes the OSD parameter selection available to other modules even if there is no native OSD support on the board, for instance CRSF.
RebootRequired |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
OSD_CHAN: Screen switch transmitter channel¶
This sets the channel used to switch different OSD screens.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OSD_SW_METHOD: Screen switch method¶
This sets the method used to switch different OSD screens.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
OSD_OPTIONS: OSD Options¶
This sets options that change the display
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
OSD_FONT: OSD Font¶
This sets which OSD font to use. It is an integer from 0 to the number of fonts available
RebootRequired |
---|
True |
OSD_V_OFFSET: OSD vertical offset¶
Sets vertical offset of the osd inside image
Range |
RebootRequired |
---|---|
0 - 31 |
True |
OSD_H_OFFSET: OSD horizontal offset¶
Sets horizontal offset of the osd inside image
Range |
RebootRequired |
---|---|
0 - 63 |
True |
OSD_W_RSSI: RSSI warn level (in %)¶
Set level at which RSSI item will flash
Range |
---|
0 - 99 |
OSD_W_NSAT: NSAT warn level¶
Set level at which NSAT item will flash
Range |
---|
1 - 30 |
OSD_W_BATVOLT: BAT_VOLT warn level¶
Set level at which BAT_VOLT item will flash
Range |
---|
0 - 100 |
OSD_UNITS: Display Units¶
Sets the units to use in displaying items
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
OSD_MSG_TIME: Message display duration in seconds¶
Sets message duration seconds
Range |
---|
1 - 20 |
OSD_ARM_SCR: Arm screen¶
Screen to be shown on Arm event. Zero to disable the feature.
Range |
---|
0 - 4 |
OSD_DSARM_SCR: Disarm screen¶
Screen to be shown on disarm event. Zero to disable the feature.
Range |
---|
0 - 4 |
OSD_FS_SCR: Failsafe screen¶
Screen to be shown on failsafe event. Zero to disable the feature.
Range |
---|
0 - 4 |
OSD_W_TERR: Terrain warn level¶
Set level below which TER_HGT item will flash. -1 disables.
Range |
Units |
---|---|
-1 - 3000 |
meters |
OSD_W_AVGCELLV: AVGCELLV warn level¶
Set level at which AVGCELLV item will flash
Range |
---|
0 - 100 |
OSD_CELL_COUNT: Battery cell count¶
Used for average cell voltage display. -1 disables, 0 uses cell count autodetection for well charged LIPO/LIION batteries at connection, other values manually select cell count used.
Increment |
---|
1 |
OSD_W_RESTVOLT: RESTVOLT warn level¶
Set level at which RESTVOLT item will flash
Range |
---|
0 - 100 |
OSD1_ Parameters¶
OSD1_ENABLE: Enable screen¶
Enable this screen
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_CHAN_MIN: Transmitter switch screen minimum pwm¶
This sets the PWM lower limit for this screen
Range |
---|
900 - 2100 |
OSD1_CHAN_MAX: Transmitter switch screen maximum pwm¶
This sets the PWM upper limit for this screen
Range |
---|
900 - 2100 |
OSD1_ALTITUDE_EN: ALTITUDE_EN¶
Enables display of altitude AGL
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_ALTITUDE_X: ALTITUDE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_ALTITUDE_Y: ALTITUDE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BAT_VOLT_EN: BATVOLT_EN¶
Displays main battery voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BAT_VOLT_X: BATVOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BAT_VOLT_Y: BATVOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_RSSI_EN: RSSI_EN¶
Displays RC signal strength
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_RSSI_X: RSSI_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_RSSI_Y: RSSI_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_CURRENT_EN: CURRENT_EN¶
Displays main battery current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_CURRENT_X: CURRENT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_CURRENT_Y: CURRENT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BATUSED_EN: BATUSED_EN¶
Displays primary battery mAh consumed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BATUSED_X: BATUSED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BATUSED_Y: BATUSED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_SATS_EN: SATS_EN¶
Displays number of acquired satellites
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_SATS_X: SATS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_SATS_Y: SATS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_FLTMODE_EN: FLTMODE_EN¶
Displays flight mode
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_FLTMODE_X: FLTMODE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_FLTMODE_Y: FLTMODE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_MESSAGE_EN: MESSAGE_EN¶
Displays Mavlink messages
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_MESSAGE_X: MESSAGE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_MESSAGE_Y: MESSAGE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_GSPEED_EN: GSPEED_EN¶
Displays GPS ground speed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_GSPEED_X: GSPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_GSPEED_Y: GSPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_HORIZON_EN: HORIZON_EN¶
Displays artificial horizon
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_HORIZON_X: HORIZON_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_HORIZON_Y: HORIZON_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_HOME_EN: HOME_EN¶
Displays distance and relative direction to HOME
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_HOME_X: HOME_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_HOME_Y: HOME_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_HEADING_EN: HEADING_EN¶
Displays heading
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_HEADING_X: HEADING_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_HEADING_Y: HEADING_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_THROTTLE_EN: THROTTLE_EN¶
Displays actual throttle percentage being sent to motor(s)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_THROTTLE_X: THROTTLE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_THROTTLE_Y: THROTTLE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_COMPASS_EN: COMPASS_EN¶
Enables display of compass rose
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_COMPASS_X: COMPASS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_COMPASS_Y: COMPASS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_WIND_EN: WIND_EN¶
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_WIND_X: WIND_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_WIND_Y: WIND_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_ASPEED_EN: ASPEED_EN¶
Displays airspeed value being used by TECS (fused value)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_ASPEED_X: ASPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_ASPEED_Y: ASPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_VSPEED_EN: VSPEED_EN¶
Displays climb rate
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_VSPEED_X: VSPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_VSPEED_Y: VSPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BLHTEMP_EN: BLHTEMP_EN¶
Displays first esc's temp
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BLHTEMP_X: BLHTEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BLHTEMP_Y: BLHTEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BLHRPM_EN: BLHRPM_EN¶
Displays first esc's rpm
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BLHRPM_X: BLHRPM_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BLHRPM_Y: BLHRPM_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BLHAMPS_EN: BLHAMPS_EN¶
Displays first esc's current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BLHAMPS_X: BLHAMPS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BLHAMPS_Y: BLHAMPS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_GPSLAT_EN: GPSLAT_EN¶
Displays GPS latitude
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_GPSLAT_X: GPSLAT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_GPSLAT_Y: GPSLAT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_GPSLONG_EN: GPSLONG_EN¶
Displays GPS longitude
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_GPSLONG_X: GPSLONG_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_GPSLONG_Y: GPSLONG_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_ROLL_EN: ROLL_EN¶
Displays degrees of roll from level
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_ROLL_X: ROLL_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_ROLL_Y: ROLL_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_PITCH_EN: PITCH_EN¶
Displays degrees of pitch from level
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_PITCH_X: PITCH_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_PITCH_Y: PITCH_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_TEMP_EN: TEMP_EN¶
Displays temperature reported by primary barometer
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_TEMP_X: TEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_TEMP_Y: TEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_HDOP_EN: HDOP_EN¶
Displays Horizontal Dilution Of Position
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_HDOP_X: HDOP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_HDOP_Y: HDOP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_WAYPOINT_EN: WAYPOINT_EN¶
Displays bearing and distance to next waypoint
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_WAYPOINT_X: WAYPOINT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_WAYPOINT_Y: WAYPOINT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_XTRACK_EN: XTRACK_EN¶
Displays crosstrack error
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_XTRACK_X: XTRACK_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_XTRACK_Y: XTRACK_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_DIST_EN: DIST_EN¶
Displays total distance flown
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_DIST_X: DIST_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_DIST_Y: DIST_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_STATS_EN: STATS_EN¶
Displays flight stats
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_STATS_X: STATS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_STATS_Y: STATS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_FLTIME_EN: FLTIME_EN¶
Displays total flight time
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_FLTIME_X: FLTIME_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_FLTIME_Y: FLTIME_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_CLIMBEFF_EN: CLIMBEFF_EN¶
Displays climb efficiency (climb rate/current)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_CLIMBEFF_X: CLIMBEFF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_CLIMBEFF_Y: CLIMBEFF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_EFF_EN: EFF_EN¶
Displays flight efficiency (mAh/km or /mi)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_EFF_X: EFF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_EFF_Y: EFF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BTEMP_EN: BTEMP_EN¶
Displays temperature reported by secondary barometer
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BTEMP_X: BTEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BTEMP_Y: BTEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_ATEMP_EN: ATEMP_EN¶
Displays temperature reported by primary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_ATEMP_X: ATEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_ATEMP_Y: ATEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BAT2_VLT_EN: BAT2VLT_EN¶
Displays battery2 voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BAT2_VLT_X: BAT2VLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BAT2_VLT_Y: BAT2VLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BAT2USED_EN: BAT2USED_EN¶
Displays secondary battery mAh consumed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BAT2USED_X: BAT2USED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BAT2USED_Y: BAT2USED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_ASPD2_EN: ASPD2_EN¶
Displays airspeed reported directly from secondary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_ASPD2_X: ASPD2_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_ASPD2_Y: ASPD2_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_ASPD1_EN: ASPD1_EN¶
Displays airspeed reported directly from primary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_ASPD1_X: ASPD1_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_ASPD1_Y: ASPD1_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_CLK_EN: CLK_EN¶
Displays a clock panel based on AP_RTC local time
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_CLK_X: CLK_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_CLK_Y: CLK_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_CRSSHAIR_EN: CRSSHAIR_EN¶
Displays artificial horizon crosshair (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_CRSSHAIR_X: CRSSHAIR_X¶
Horizontal position on screen (MSP OSD only)
Range |
---|
0 - 29 |
OSD1_CRSSHAIR_Y: CRSSHAIR_Y¶
Vertical position on screen (MSP OSD only)
Range |
---|
0 - 15 |
OSD1_HOMEDIST_EN: HOMEDIST_EN¶
Displays distance from HOME (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_HOMEDIST_X: HOMEDIST_X¶
Horizontal position on screen (MSP OSD only)
Range |
---|
0 - 29 |
OSD1_HOMEDIST_Y: HOMEDIST_Y¶
Vertical position on screen (MSP OSD only)
Range |
---|
0 - 15 |
OSD1_HOMEDIR_EN: HOMEDIR_EN¶
Displays relative direction to HOME (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_HOMEDIR_X: HOMEDIR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_HOMEDIR_Y: HOMEDIR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_POWER_EN: POWER_EN¶
Displays power (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_POWER_X: POWER_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_POWER_Y: POWER_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_CELLVOLT_EN: CELL_VOLT_EN¶
Displays average cell voltage (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_CELLVOLT_X: CELL_VOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_CELLVOLT_Y: CELL_VOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_BATTBAR_EN: BATT_BAR_EN¶
Displays battery usage bar (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_BATTBAR_X: BATT_BAR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_BATTBAR_Y: BATT_BAR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_ARMING_EN: ARMING_EN¶
Displays arming status (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_ARMING_X: ARMING_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_ARMING_Y: ARMING_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_PLUSCODE_EN: PLUSCODE_EN¶
Displays pluscode (OLC) element
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_PLUSCODE_X: PLUSCODE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_PLUSCODE_Y: PLUSCODE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_CALLSIGN_EN: CALLSIGN_EN¶
Displays callsign from callsign.txt on microSD card
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_CALLSIGN_X: CALLSIGN_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_CALLSIGN_Y: CALLSIGN_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_CURRENT2_EN: CURRENT2_EN¶
Displays 2nd battery current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_CURRENT2_X: CURRENT2_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_CURRENT2_Y: CURRENT2_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_VTX_PWR_EN: VTX_PWR_EN¶
Displays VTX Power
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_VTX_PWR_X: VTX_PWR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_VTX_PWR_Y: VTX_PWR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_TER_HGT_EN: TER_HGT_EN¶
Displays Height above terrain
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_TER_HGT_X: TER_HGT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_TER_HGT_Y: TER_HGT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_AVGCELLV_EN: AVGCELLV_EN¶
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_AVGCELLV_X: AVGCELLV_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_AVGCELLV_Y: AVGCELLV_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_RESTVOLT_EN: RESTVOLT_EN¶
Displays main battery resting voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_RESTVOLT_X: RESTVOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_RESTVOLT_Y: RESTVOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_FENCE_EN: FENCE_EN¶
Displays indication of fence enable and breach
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_FENCE_X: FENCE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_FENCE_Y: FENCE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD1_RNGF_EN: RNGF_EN¶
Displays a rangefinder's distance in cm
Values |
||||||
---|---|---|---|---|---|---|
|
OSD1_RNGF_X: RNGF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD1_RNGF_Y: RNGF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_ Parameters¶
OSD2_ENABLE: Enable screen¶
Enable this screen
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_CHAN_MIN: Transmitter switch screen minimum pwm¶
This sets the PWM lower limit for this screen
Range |
---|
900 - 2100 |
OSD2_CHAN_MAX: Transmitter switch screen maximum pwm¶
This sets the PWM upper limit for this screen
Range |
---|
900 - 2100 |
OSD2_ALTITUDE_EN: ALTITUDE_EN¶
Enables display of altitude AGL
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_ALTITUDE_X: ALTITUDE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_ALTITUDE_Y: ALTITUDE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BAT_VOLT_EN: BATVOLT_EN¶
Displays main battery voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BAT_VOLT_X: BATVOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BAT_VOLT_Y: BATVOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_RSSI_EN: RSSI_EN¶
Displays RC signal strength
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_RSSI_X: RSSI_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_RSSI_Y: RSSI_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_CURRENT_EN: CURRENT_EN¶
Displays main battery current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_CURRENT_X: CURRENT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_CURRENT_Y: CURRENT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BATUSED_EN: BATUSED_EN¶
Displays primary battery mAh consumed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BATUSED_X: BATUSED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BATUSED_Y: BATUSED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_SATS_EN: SATS_EN¶
Displays number of acquired satellites
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_SATS_X: SATS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_SATS_Y: SATS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_FLTMODE_EN: FLTMODE_EN¶
Displays flight mode
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_FLTMODE_X: FLTMODE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_FLTMODE_Y: FLTMODE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_MESSAGE_EN: MESSAGE_EN¶
Displays Mavlink messages
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_MESSAGE_X: MESSAGE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_MESSAGE_Y: MESSAGE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_GSPEED_EN: GSPEED_EN¶
Displays GPS ground speed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_GSPEED_X: GSPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_GSPEED_Y: GSPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_HORIZON_EN: HORIZON_EN¶
Displays artificial horizon
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_HORIZON_X: HORIZON_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_HORIZON_Y: HORIZON_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_HOME_EN: HOME_EN¶
Displays distance and relative direction to HOME
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_HOME_X: HOME_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_HOME_Y: HOME_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_HEADING_EN: HEADING_EN¶
Displays heading
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_HEADING_X: HEADING_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_HEADING_Y: HEADING_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_THROTTLE_EN: THROTTLE_EN¶
Displays actual throttle percentage being sent to motor(s)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_THROTTLE_X: THROTTLE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_THROTTLE_Y: THROTTLE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_COMPASS_EN: COMPASS_EN¶
Enables display of compass rose
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_COMPASS_X: COMPASS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_COMPASS_Y: COMPASS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_WIND_EN: WIND_EN¶
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_WIND_X: WIND_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_WIND_Y: WIND_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_ASPEED_EN: ASPEED_EN¶
Displays airspeed value being used by TECS (fused value)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_ASPEED_X: ASPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_ASPEED_Y: ASPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_VSPEED_EN: VSPEED_EN¶
Displays climb rate
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_VSPEED_X: VSPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_VSPEED_Y: VSPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BLHTEMP_EN: BLHTEMP_EN¶
Displays first esc's temp
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BLHTEMP_X: BLHTEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BLHTEMP_Y: BLHTEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BLHRPM_EN: BLHRPM_EN¶
Displays first esc's rpm
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BLHRPM_X: BLHRPM_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BLHRPM_Y: BLHRPM_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BLHAMPS_EN: BLHAMPS_EN¶
Displays first esc's current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BLHAMPS_X: BLHAMPS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BLHAMPS_Y: BLHAMPS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_GPSLAT_EN: GPSLAT_EN¶
Displays GPS latitude
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_GPSLAT_X: GPSLAT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_GPSLAT_Y: GPSLAT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_GPSLONG_EN: GPSLONG_EN¶
Displays GPS longitude
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_GPSLONG_X: GPSLONG_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_GPSLONG_Y: GPSLONG_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_ROLL_EN: ROLL_EN¶
Displays degrees of roll from level
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_ROLL_X: ROLL_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_ROLL_Y: ROLL_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_PITCH_EN: PITCH_EN¶
Displays degrees of pitch from level
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_PITCH_X: PITCH_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_PITCH_Y: PITCH_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_TEMP_EN: TEMP_EN¶
Displays temperature reported by primary barometer
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_TEMP_X: TEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_TEMP_Y: TEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_HDOP_EN: HDOP_EN¶
Displays Horizontal Dilution Of Position
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_HDOP_X: HDOP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_HDOP_Y: HDOP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_WAYPOINT_EN: WAYPOINT_EN¶
Displays bearing and distance to next waypoint
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_WAYPOINT_X: WAYPOINT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_WAYPOINT_Y: WAYPOINT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_XTRACK_EN: XTRACK_EN¶
Displays crosstrack error
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_XTRACK_X: XTRACK_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_XTRACK_Y: XTRACK_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_DIST_EN: DIST_EN¶
Displays total distance flown
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_DIST_X: DIST_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_DIST_Y: DIST_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_STATS_EN: STATS_EN¶
Displays flight stats
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_STATS_X: STATS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_STATS_Y: STATS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_FLTIME_EN: FLTIME_EN¶
Displays total flight time
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_FLTIME_X: FLTIME_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_FLTIME_Y: FLTIME_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_CLIMBEFF_EN: CLIMBEFF_EN¶
Displays climb efficiency (climb rate/current)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_CLIMBEFF_X: CLIMBEFF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_CLIMBEFF_Y: CLIMBEFF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_EFF_EN: EFF_EN¶
Displays flight efficiency (mAh/km or /mi)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_EFF_X: EFF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_EFF_Y: EFF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BTEMP_EN: BTEMP_EN¶
Displays temperature reported by secondary barometer
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BTEMP_X: BTEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BTEMP_Y: BTEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_ATEMP_EN: ATEMP_EN¶
Displays temperature reported by primary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_ATEMP_X: ATEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_ATEMP_Y: ATEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BAT2_VLT_EN: BAT2VLT_EN¶
Displays battery2 voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BAT2_VLT_X: BAT2VLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BAT2_VLT_Y: BAT2VLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BAT2USED_EN: BAT2USED_EN¶
Displays secondary battery mAh consumed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BAT2USED_X: BAT2USED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BAT2USED_Y: BAT2USED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_ASPD2_EN: ASPD2_EN¶
Displays airspeed reported directly from secondary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_ASPD2_X: ASPD2_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_ASPD2_Y: ASPD2_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_ASPD1_EN: ASPD1_EN¶
Displays airspeed reported directly from primary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_ASPD1_X: ASPD1_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_ASPD1_Y: ASPD1_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_CLK_EN: CLK_EN¶
Displays a clock panel based on AP_RTC local time
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_CLK_X: CLK_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_CLK_Y: CLK_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_CRSSHAIR_EN: CRSSHAIR_EN¶
Displays artificial horizon crosshair (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_CRSSHAIR_X: CRSSHAIR_X¶
Horizontal position on screen (MSP OSD only)
Range |
---|
0 - 29 |
OSD2_CRSSHAIR_Y: CRSSHAIR_Y¶
Vertical position on screen (MSP OSD only)
Range |
---|
0 - 15 |
OSD2_HOMEDIST_EN: HOMEDIST_EN¶
Displays distance from HOME (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_HOMEDIST_X: HOMEDIST_X¶
Horizontal position on screen (MSP OSD only)
Range |
---|
0 - 29 |
OSD2_HOMEDIST_Y: HOMEDIST_Y¶
Vertical position on screen (MSP OSD only)
Range |
---|
0 - 15 |
OSD2_HOMEDIR_EN: HOMEDIR_EN¶
Displays relative direction to HOME (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_HOMEDIR_X: HOMEDIR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_HOMEDIR_Y: HOMEDIR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_POWER_EN: POWER_EN¶
Displays power (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_POWER_X: POWER_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_POWER_Y: POWER_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_CELLVOLT_EN: CELL_VOLT_EN¶
Displays average cell voltage (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_CELLVOLT_X: CELL_VOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_CELLVOLT_Y: CELL_VOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_BATTBAR_EN: BATT_BAR_EN¶
Displays battery usage bar (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_BATTBAR_X: BATT_BAR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_BATTBAR_Y: BATT_BAR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_ARMING_EN: ARMING_EN¶
Displays arming status (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_ARMING_X: ARMING_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_ARMING_Y: ARMING_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_PLUSCODE_EN: PLUSCODE_EN¶
Displays pluscode (OLC) element
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_PLUSCODE_X: PLUSCODE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_PLUSCODE_Y: PLUSCODE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_CALLSIGN_EN: CALLSIGN_EN¶
Displays callsign from callsign.txt on microSD card
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_CALLSIGN_X: CALLSIGN_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_CALLSIGN_Y: CALLSIGN_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_CURRENT2_EN: CURRENT2_EN¶
Displays 2nd battery current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_CURRENT2_X: CURRENT2_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_CURRENT2_Y: CURRENT2_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_VTX_PWR_EN: VTX_PWR_EN¶
Displays VTX Power
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_VTX_PWR_X: VTX_PWR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_VTX_PWR_Y: VTX_PWR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_TER_HGT_EN: TER_HGT_EN¶
Displays Height above terrain
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_TER_HGT_X: TER_HGT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_TER_HGT_Y: TER_HGT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_AVGCELLV_EN: AVGCELLV_EN¶
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_AVGCELLV_X: AVGCELLV_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_AVGCELLV_Y: AVGCELLV_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_RESTVOLT_EN: RESTVOLT_EN¶
Displays main battery resting voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_RESTVOLT_X: RESTVOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_RESTVOLT_Y: RESTVOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_FENCE_EN: FENCE_EN¶
Displays indication of fence enable and breach
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_FENCE_X: FENCE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_FENCE_Y: FENCE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD2_RNGF_EN: RNGF_EN¶
Displays a rangefinder's distance in cm
Values |
||||||
---|---|---|---|---|---|---|
|
OSD2_RNGF_X: RNGF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD2_RNGF_Y: RNGF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_ Parameters¶
OSD3_ENABLE: Enable screen¶
Enable this screen
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_CHAN_MIN: Transmitter switch screen minimum pwm¶
This sets the PWM lower limit for this screen
Range |
---|
900 - 2100 |
OSD3_CHAN_MAX: Transmitter switch screen maximum pwm¶
This sets the PWM upper limit for this screen
Range |
---|
900 - 2100 |
OSD3_ALTITUDE_EN: ALTITUDE_EN¶
Enables display of altitude AGL
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_ALTITUDE_X: ALTITUDE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_ALTITUDE_Y: ALTITUDE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BAT_VOLT_EN: BATVOLT_EN¶
Displays main battery voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BAT_VOLT_X: BATVOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BAT_VOLT_Y: BATVOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_RSSI_EN: RSSI_EN¶
Displays RC signal strength
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_RSSI_X: RSSI_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_RSSI_Y: RSSI_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_CURRENT_EN: CURRENT_EN¶
Displays main battery current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_CURRENT_X: CURRENT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_CURRENT_Y: CURRENT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BATUSED_EN: BATUSED_EN¶
Displays primary battery mAh consumed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BATUSED_X: BATUSED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BATUSED_Y: BATUSED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_SATS_EN: SATS_EN¶
Displays number of acquired satellites
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_SATS_X: SATS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_SATS_Y: SATS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_FLTMODE_EN: FLTMODE_EN¶
Displays flight mode
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_FLTMODE_X: FLTMODE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_FLTMODE_Y: FLTMODE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_MESSAGE_EN: MESSAGE_EN¶
Displays Mavlink messages
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_MESSAGE_X: MESSAGE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_MESSAGE_Y: MESSAGE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_GSPEED_EN: GSPEED_EN¶
Displays GPS ground speed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_GSPEED_X: GSPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_GSPEED_Y: GSPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_HORIZON_EN: HORIZON_EN¶
Displays artificial horizon
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_HORIZON_X: HORIZON_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_HORIZON_Y: HORIZON_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_HOME_EN: HOME_EN¶
Displays distance and relative direction to HOME
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_HOME_X: HOME_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_HOME_Y: HOME_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_HEADING_EN: HEADING_EN¶
Displays heading
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_HEADING_X: HEADING_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_HEADING_Y: HEADING_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_THROTTLE_EN: THROTTLE_EN¶
Displays actual throttle percentage being sent to motor(s)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_THROTTLE_X: THROTTLE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_THROTTLE_Y: THROTTLE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_COMPASS_EN: COMPASS_EN¶
Enables display of compass rose
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_COMPASS_X: COMPASS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_COMPASS_Y: COMPASS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_WIND_EN: WIND_EN¶
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_WIND_X: WIND_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_WIND_Y: WIND_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_ASPEED_EN: ASPEED_EN¶
Displays airspeed value being used by TECS (fused value)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_ASPEED_X: ASPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_ASPEED_Y: ASPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_VSPEED_EN: VSPEED_EN¶
Displays climb rate
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_VSPEED_X: VSPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_VSPEED_Y: VSPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BLHTEMP_EN: BLHTEMP_EN¶
Displays first esc's temp
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BLHTEMP_X: BLHTEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BLHTEMP_Y: BLHTEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BLHRPM_EN: BLHRPM_EN¶
Displays first esc's rpm
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BLHRPM_X: BLHRPM_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BLHRPM_Y: BLHRPM_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BLHAMPS_EN: BLHAMPS_EN¶
Displays first esc's current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BLHAMPS_X: BLHAMPS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BLHAMPS_Y: BLHAMPS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_GPSLAT_EN: GPSLAT_EN¶
Displays GPS latitude
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_GPSLAT_X: GPSLAT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_GPSLAT_Y: GPSLAT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_GPSLONG_EN: GPSLONG_EN¶
Displays GPS longitude
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_GPSLONG_X: GPSLONG_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_GPSLONG_Y: GPSLONG_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_ROLL_EN: ROLL_EN¶
Displays degrees of roll from level
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_ROLL_X: ROLL_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_ROLL_Y: ROLL_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_PITCH_EN: PITCH_EN¶
Displays degrees of pitch from level
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_PITCH_X: PITCH_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_PITCH_Y: PITCH_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_TEMP_EN: TEMP_EN¶
Displays temperature reported by primary barometer
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_TEMP_X: TEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_TEMP_Y: TEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_HDOP_EN: HDOP_EN¶
Displays Horizontal Dilution Of Position
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_HDOP_X: HDOP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_HDOP_Y: HDOP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_WAYPOINT_EN: WAYPOINT_EN¶
Displays bearing and distance to next waypoint
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_WAYPOINT_X: WAYPOINT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_WAYPOINT_Y: WAYPOINT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_XTRACK_EN: XTRACK_EN¶
Displays crosstrack error
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_XTRACK_X: XTRACK_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_XTRACK_Y: XTRACK_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_DIST_EN: DIST_EN¶
Displays total distance flown
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_DIST_X: DIST_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_DIST_Y: DIST_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_STATS_EN: STATS_EN¶
Displays flight stats
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_STATS_X: STATS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_STATS_Y: STATS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_FLTIME_EN: FLTIME_EN¶
Displays total flight time
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_FLTIME_X: FLTIME_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_FLTIME_Y: FLTIME_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_CLIMBEFF_EN: CLIMBEFF_EN¶
Displays climb efficiency (climb rate/current)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_CLIMBEFF_X: CLIMBEFF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_CLIMBEFF_Y: CLIMBEFF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_EFF_EN: EFF_EN¶
Displays flight efficiency (mAh/km or /mi)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_EFF_X: EFF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_EFF_Y: EFF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BTEMP_EN: BTEMP_EN¶
Displays temperature reported by secondary barometer
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BTEMP_X: BTEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BTEMP_Y: BTEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_ATEMP_EN: ATEMP_EN¶
Displays temperature reported by primary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_ATEMP_X: ATEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_ATEMP_Y: ATEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BAT2_VLT_EN: BAT2VLT_EN¶
Displays battery2 voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BAT2_VLT_X: BAT2VLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BAT2_VLT_Y: BAT2VLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BAT2USED_EN: BAT2USED_EN¶
Displays secondary battery mAh consumed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BAT2USED_X: BAT2USED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BAT2USED_Y: BAT2USED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_ASPD2_EN: ASPD2_EN¶
Displays airspeed reported directly from secondary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_ASPD2_X: ASPD2_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_ASPD2_Y: ASPD2_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_ASPD1_EN: ASPD1_EN¶
Displays airspeed reported directly from primary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_ASPD1_X: ASPD1_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_ASPD1_Y: ASPD1_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_CLK_EN: CLK_EN¶
Displays a clock panel based on AP_RTC local time
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_CLK_X: CLK_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_CLK_Y: CLK_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_CRSSHAIR_EN: CRSSHAIR_EN¶
Displays artificial horizon crosshair (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_CRSSHAIR_X: CRSSHAIR_X¶
Horizontal position on screen (MSP OSD only)
Range |
---|
0 - 29 |
OSD3_CRSSHAIR_Y: CRSSHAIR_Y¶
Vertical position on screen (MSP OSD only)
Range |
---|
0 - 15 |
OSD3_HOMEDIST_EN: HOMEDIST_EN¶
Displays distance from HOME (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_HOMEDIST_X: HOMEDIST_X¶
Horizontal position on screen (MSP OSD only)
Range |
---|
0 - 29 |
OSD3_HOMEDIST_Y: HOMEDIST_Y¶
Vertical position on screen (MSP OSD only)
Range |
---|
0 - 15 |
OSD3_HOMEDIR_EN: HOMEDIR_EN¶
Displays relative direction to HOME (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_HOMEDIR_X: HOMEDIR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_HOMEDIR_Y: HOMEDIR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_POWER_EN: POWER_EN¶
Displays power (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_POWER_X: POWER_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_POWER_Y: POWER_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_CELLVOLT_EN: CELL_VOLT_EN¶
Displays average cell voltage (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_CELLVOLT_X: CELL_VOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_CELLVOLT_Y: CELL_VOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_BATTBAR_EN: BATT_BAR_EN¶
Displays battery usage bar (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_BATTBAR_X: BATT_BAR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_BATTBAR_Y: BATT_BAR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_ARMING_EN: ARMING_EN¶
Displays arming status (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_ARMING_X: ARMING_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_ARMING_Y: ARMING_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_PLUSCODE_EN: PLUSCODE_EN¶
Displays pluscode (OLC) element
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_PLUSCODE_X: PLUSCODE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_PLUSCODE_Y: PLUSCODE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_CALLSIGN_EN: CALLSIGN_EN¶
Displays callsign from callsign.txt on microSD card
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_CALLSIGN_X: CALLSIGN_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_CALLSIGN_Y: CALLSIGN_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_CURRENT2_EN: CURRENT2_EN¶
Displays 2nd battery current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_CURRENT2_X: CURRENT2_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_CURRENT2_Y: CURRENT2_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_VTX_PWR_EN: VTX_PWR_EN¶
Displays VTX Power
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_VTX_PWR_X: VTX_PWR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_VTX_PWR_Y: VTX_PWR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_TER_HGT_EN: TER_HGT_EN¶
Displays Height above terrain
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_TER_HGT_X: TER_HGT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_TER_HGT_Y: TER_HGT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_AVGCELLV_EN: AVGCELLV_EN¶
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_AVGCELLV_X: AVGCELLV_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_AVGCELLV_Y: AVGCELLV_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_RESTVOLT_EN: RESTVOLT_EN¶
Displays main battery resting voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_RESTVOLT_X: RESTVOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_RESTVOLT_Y: RESTVOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_FENCE_EN: FENCE_EN¶
Displays indication of fence enable and breach
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_FENCE_X: FENCE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_FENCE_Y: FENCE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD3_RNGF_EN: RNGF_EN¶
Displays a rangefinder's distance in cm
Values |
||||||
---|---|---|---|---|---|---|
|
OSD3_RNGF_X: RNGF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD3_RNGF_Y: RNGF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_ Parameters¶
OSD4_ENABLE: Enable screen¶
Enable this screen
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_CHAN_MIN: Transmitter switch screen minimum pwm¶
This sets the PWM lower limit for this screen
Range |
---|
900 - 2100 |
OSD4_CHAN_MAX: Transmitter switch screen maximum pwm¶
This sets the PWM upper limit for this screen
Range |
---|
900 - 2100 |
OSD4_ALTITUDE_EN: ALTITUDE_EN¶
Enables display of altitude AGL
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_ALTITUDE_X: ALTITUDE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_ALTITUDE_Y: ALTITUDE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BAT_VOLT_EN: BATVOLT_EN¶
Displays main battery voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BAT_VOLT_X: BATVOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BAT_VOLT_Y: BATVOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_RSSI_EN: RSSI_EN¶
Displays RC signal strength
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_RSSI_X: RSSI_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_RSSI_Y: RSSI_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_CURRENT_EN: CURRENT_EN¶
Displays main battery current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_CURRENT_X: CURRENT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_CURRENT_Y: CURRENT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BATUSED_EN: BATUSED_EN¶
Displays primary battery mAh consumed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BATUSED_X: BATUSED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BATUSED_Y: BATUSED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_SATS_EN: SATS_EN¶
Displays number of acquired satellites
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_SATS_X: SATS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_SATS_Y: SATS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_FLTMODE_EN: FLTMODE_EN¶
Displays flight mode
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_FLTMODE_X: FLTMODE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_FLTMODE_Y: FLTMODE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_MESSAGE_EN: MESSAGE_EN¶
Displays Mavlink messages
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_MESSAGE_X: MESSAGE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_MESSAGE_Y: MESSAGE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_GSPEED_EN: GSPEED_EN¶
Displays GPS ground speed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_GSPEED_X: GSPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_GSPEED_Y: GSPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_HORIZON_EN: HORIZON_EN¶
Displays artificial horizon
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_HORIZON_X: HORIZON_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_HORIZON_Y: HORIZON_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_HOME_EN: HOME_EN¶
Displays distance and relative direction to HOME
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_HOME_X: HOME_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_HOME_Y: HOME_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_HEADING_EN: HEADING_EN¶
Displays heading
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_HEADING_X: HEADING_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_HEADING_Y: HEADING_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_THROTTLE_EN: THROTTLE_EN¶
Displays actual throttle percentage being sent to motor(s)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_THROTTLE_X: THROTTLE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_THROTTLE_Y: THROTTLE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_COMPASS_EN: COMPASS_EN¶
Enables display of compass rose
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_COMPASS_X: COMPASS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_COMPASS_Y: COMPASS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_WIND_EN: WIND_EN¶
Displays wind speed and relative direction, on Rover this is the apparent wind speed and direction from the windvane, if fitted
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_WIND_X: WIND_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_WIND_Y: WIND_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_ASPEED_EN: ASPEED_EN¶
Displays airspeed value being used by TECS (fused value)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_ASPEED_X: ASPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_ASPEED_Y: ASPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_VSPEED_EN: VSPEED_EN¶
Displays climb rate
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_VSPEED_X: VSPEED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_VSPEED_Y: VSPEED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BLHTEMP_EN: BLHTEMP_EN¶
Displays first esc's temp
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BLHTEMP_X: BLHTEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BLHTEMP_Y: BLHTEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BLHRPM_EN: BLHRPM_EN¶
Displays first esc's rpm
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BLHRPM_X: BLHRPM_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BLHRPM_Y: BLHRPM_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BLHAMPS_EN: BLHAMPS_EN¶
Displays first esc's current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BLHAMPS_X: BLHAMPS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BLHAMPS_Y: BLHAMPS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_GPSLAT_EN: GPSLAT_EN¶
Displays GPS latitude
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_GPSLAT_X: GPSLAT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_GPSLAT_Y: GPSLAT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_GPSLONG_EN: GPSLONG_EN¶
Displays GPS longitude
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_GPSLONG_X: GPSLONG_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_GPSLONG_Y: GPSLONG_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_ROLL_EN: ROLL_EN¶
Displays degrees of roll from level
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_ROLL_X: ROLL_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_ROLL_Y: ROLL_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_PITCH_EN: PITCH_EN¶
Displays degrees of pitch from level
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_PITCH_X: PITCH_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_PITCH_Y: PITCH_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_TEMP_EN: TEMP_EN¶
Displays temperature reported by primary barometer
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_TEMP_X: TEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_TEMP_Y: TEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_HDOP_EN: HDOP_EN¶
Displays Horizontal Dilution Of Position
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_HDOP_X: HDOP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_HDOP_Y: HDOP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_WAYPOINT_EN: WAYPOINT_EN¶
Displays bearing and distance to next waypoint
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_WAYPOINT_X: WAYPOINT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_WAYPOINT_Y: WAYPOINT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_XTRACK_EN: XTRACK_EN¶
Displays crosstrack error
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_XTRACK_X: XTRACK_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_XTRACK_Y: XTRACK_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_DIST_EN: DIST_EN¶
Displays total distance flown
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_DIST_X: DIST_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_DIST_Y: DIST_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_STATS_EN: STATS_EN¶
Displays flight stats
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_STATS_X: STATS_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_STATS_Y: STATS_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_FLTIME_EN: FLTIME_EN¶
Displays total flight time
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_FLTIME_X: FLTIME_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_FLTIME_Y: FLTIME_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_CLIMBEFF_EN: CLIMBEFF_EN¶
Displays climb efficiency (climb rate/current)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_CLIMBEFF_X: CLIMBEFF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_CLIMBEFF_Y: CLIMBEFF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_EFF_EN: EFF_EN¶
Displays flight efficiency (mAh/km or /mi)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_EFF_X: EFF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_EFF_Y: EFF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BTEMP_EN: BTEMP_EN¶
Displays temperature reported by secondary barometer
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BTEMP_X: BTEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BTEMP_Y: BTEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_ATEMP_EN: ATEMP_EN¶
Displays temperature reported by primary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_ATEMP_X: ATEMP_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_ATEMP_Y: ATEMP_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BAT2_VLT_EN: BAT2VLT_EN¶
Displays battery2 voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BAT2_VLT_X: BAT2VLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BAT2_VLT_Y: BAT2VLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BAT2USED_EN: BAT2USED_EN¶
Displays secondary battery mAh consumed
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BAT2USED_X: BAT2USED_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BAT2USED_Y: BAT2USED_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_ASPD2_EN: ASPD2_EN¶
Displays airspeed reported directly from secondary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_ASPD2_X: ASPD2_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_ASPD2_Y: ASPD2_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_ASPD1_EN: ASPD1_EN¶
Displays airspeed reported directly from primary airspeed sensor
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_ASPD1_X: ASPD1_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_ASPD1_Y: ASPD1_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_CLK_EN: CLK_EN¶
Displays a clock panel based on AP_RTC local time
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_CLK_X: CLK_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_CLK_Y: CLK_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_CRSSHAIR_EN: CRSSHAIR_EN¶
Displays artificial horizon crosshair (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_CRSSHAIR_X: CRSSHAIR_X¶
Horizontal position on screen (MSP OSD only)
Range |
---|
0 - 29 |
OSD4_CRSSHAIR_Y: CRSSHAIR_Y¶
Vertical position on screen (MSP OSD only)
Range |
---|
0 - 15 |
OSD4_HOMEDIST_EN: HOMEDIST_EN¶
Displays distance from HOME (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_HOMEDIST_X: HOMEDIST_X¶
Horizontal position on screen (MSP OSD only)
Range |
---|
0 - 29 |
OSD4_HOMEDIST_Y: HOMEDIST_Y¶
Vertical position on screen (MSP OSD only)
Range |
---|
0 - 15 |
OSD4_HOMEDIR_EN: HOMEDIR_EN¶
Displays relative direction to HOME (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_HOMEDIR_X: HOMEDIR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_HOMEDIR_Y: HOMEDIR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_POWER_EN: POWER_EN¶
Displays power (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_POWER_X: POWER_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_POWER_Y: POWER_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_CELLVOLT_EN: CELL_VOLT_EN¶
Displays average cell voltage (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_CELLVOLT_X: CELL_VOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_CELLVOLT_Y: CELL_VOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_BATTBAR_EN: BATT_BAR_EN¶
Displays battery usage bar (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_BATTBAR_X: BATT_BAR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_BATTBAR_Y: BATT_BAR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_ARMING_EN: ARMING_EN¶
Displays arming status (MSP OSD only)
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_ARMING_X: ARMING_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_ARMING_Y: ARMING_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_PLUSCODE_EN: PLUSCODE_EN¶
Displays pluscode (OLC) element
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_PLUSCODE_X: PLUSCODE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_PLUSCODE_Y: PLUSCODE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_CALLSIGN_EN: CALLSIGN_EN¶
Displays callsign from callsign.txt on microSD card
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_CALLSIGN_X: CALLSIGN_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_CALLSIGN_Y: CALLSIGN_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_CURRENT2_EN: CURRENT2_EN¶
Displays 2nd battery current
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_CURRENT2_X: CURRENT2_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_CURRENT2_Y: CURRENT2_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_VTX_PWR_EN: VTX_PWR_EN¶
Displays VTX Power
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_VTX_PWR_X: VTX_PWR_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_VTX_PWR_Y: VTX_PWR_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_TER_HGT_EN: TER_HGT_EN¶
Displays Height above terrain
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_TER_HGT_X: TER_HGT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_TER_HGT_Y: TER_HGT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_AVGCELLV_EN: AVGCELLV_EN¶
Displays average cell voltage. WARNING: this can be inaccurate if the cell count is not detected or set properly. If the the battery is far from fully charged the detected cell count might not be accurate if auto cell count detection is used (OSD_CELL_COUNT=0).
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_AVGCELLV_X: AVGCELLV_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_AVGCELLV_Y: AVGCELLV_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_RESTVOLT_EN: RESTVOLT_EN¶
Displays main battery resting voltage
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_RESTVOLT_X: RESTVOLT_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_RESTVOLT_Y: RESTVOLT_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_FENCE_EN: FENCE_EN¶
Displays indication of fence enable and breach
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_FENCE_X: FENCE_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_FENCE_Y: FENCE_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD4_RNGF_EN: RNGF_EN¶
Displays a rangefinder's distance in cm
Values |
||||||
---|---|---|---|---|---|---|
|
OSD4_RNGF_X: RNGF_X¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD4_RNGF_Y: RNGF_Y¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_ Parameters¶
OSD5_ENABLE: Enable screen¶
Enable this screen
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_CHAN_MIN: Transmitter switch screen minimum pwm¶
This sets the PWM lower limit for this screen
Range |
---|
900 - 2100 |
OSD5_CHAN_MAX: Transmitter switch screen maximum pwm¶
This sets the PWM upper limit for this screen
Range |
---|
900 - 2100 |
OSD5_SAVE_X: SAVE_X¶
Horizontal position of Save button on screen
Range |
---|
0 - 25 |
OSD5_SAVE_Y: SAVE_Y¶
Vertical position of Save button on screen
Range |
---|
0 - 15 |
OSD5_PARAM1 Parameters¶
OSD5_PARAM1_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM1_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM1_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM1_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM1_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM1_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM1_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM1_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM1_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM1_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD5_PARAM2 Parameters¶
OSD5_PARAM2_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM2_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM2_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM2_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM2_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM2_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM2_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM2_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM2_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM2_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD5_PARAM3 Parameters¶
OSD5_PARAM3_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM3_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM3_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM3_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM3_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM3_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM3_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM3_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM3_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM3_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD5_PARAM4 Parameters¶
OSD5_PARAM4_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM4_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM4_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM4_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM4_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM4_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM4_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM4_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM4_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM4_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD5_PARAM5 Parameters¶
OSD5_PARAM5_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM5_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM5_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM5_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM5_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM5_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM5_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM5_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM5_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM5_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD5_PARAM6 Parameters¶
OSD5_PARAM6_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM6_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM6_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM6_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM6_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM6_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM6_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM6_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM6_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM6_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD5_PARAM7 Parameters¶
OSD5_PARAM7_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM7_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM7_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM7_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM7_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM7_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM7_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM7_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM7_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM7_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD5_PARAM8 Parameters¶
OSD5_PARAM8_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM8_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM8_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM8_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM8_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM8_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM8_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM8_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM8_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM8_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD5_PARAM9 Parameters¶
OSD5_PARAM9_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD5_PARAM9_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD5_PARAM9_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD5_PARAM9_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD5_PARAM9_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD5_PARAM9_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD5_PARAM9_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD5_PARAM9_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD5_PARAM9_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD5_PARAM9_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_ Parameters¶
OSD6_ENABLE: Enable screen¶
Enable this screen
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_CHAN_MIN: Transmitter switch screen minimum pwm¶
This sets the PWM lower limit for this screen
Range |
---|
900 - 2100 |
OSD6_CHAN_MAX: Transmitter switch screen maximum pwm¶
This sets the PWM upper limit for this screen
Range |
---|
900 - 2100 |
OSD6_SAVE_X: SAVE_X¶
Horizontal position of Save button on screen
Range |
---|
0 - 25 |
OSD6_SAVE_Y: SAVE_Y¶
Vertical position of Save button on screen
Range |
---|
0 - 15 |
OSD6_PARAM1 Parameters¶
OSD6_PARAM1_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM1_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM1_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM1_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM1_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM1_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM1_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM1_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM1_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM1_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_PARAM2 Parameters¶
OSD6_PARAM2_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM2_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM2_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM2_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM2_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM2_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM2_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM2_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM2_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM2_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_PARAM3 Parameters¶
OSD6_PARAM3_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM3_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM3_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM3_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM3_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM3_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM3_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM3_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM3_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM3_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_PARAM4 Parameters¶
OSD6_PARAM4_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM4_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM4_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM4_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM4_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM4_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM4_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM4_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM4_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM4_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_PARAM5 Parameters¶
OSD6_PARAM5_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM5_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM5_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM5_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM5_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM5_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM5_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM5_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM5_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM5_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_PARAM6 Parameters¶
OSD6_PARAM6_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM6_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM6_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM6_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM6_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM6_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM6_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM6_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM6_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM6_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_PARAM7 Parameters¶
OSD6_PARAM7_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM7_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM7_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM7_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM7_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM7_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM7_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM7_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM7_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM7_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_PARAM8 Parameters¶
OSD6_PARAM8_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM8_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM8_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM8_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM8_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM8_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM8_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM8_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM8_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM8_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
OSD6_PARAM9 Parameters¶
OSD6_PARAM9_EN: Enable¶
Enable setting
Values |
||||||
---|---|---|---|---|---|---|
|
OSD6_PARAM9_X: X position¶
Horizontal position on screen
Range |
---|
0 - 29 |
OSD6_PARAM9_Y: Y position¶
Vertical position on screen
Range |
---|
0 - 15 |
OSD6_PARAM9_KEY: Parameter key¶
Key of the parameter to be displayed and modified
OSD6_PARAM9_IDX: Parameter index¶
Index of the parameter to be displayed and modified
OSD6_PARAM9_GRP: Parameter group¶
Group of the parameter to be displayed and modified
OSD6_PARAM9_MIN: Parameter minimum¶
Minimum value of the parameter to be displayed and modified
OSD6_PARAM9_MAX: Parameter maximum¶
Maximum of the parameter to be displayed and modified
OSD6_PARAM9_INCR: Parameter increment¶
Increment of the parameter to be displayed and modified
OSD6_PARAM9_TYPE: Parameter type¶
Type of the parameter to be displayed and modified
PLND_ Parameters¶
PLND_ENABLED: Precision Land enabled/disabled¶
Precision Land enabled/disabled
Values |
||||||
---|---|---|---|---|---|---|
|
PLND_TYPE: Precision Land Type¶
Precision Land Type
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
PLND_YAW_ALIGN: Sensor yaw alignment¶
Yaw angle from body x-axis to sensor x-axis.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 36000 |
centidegrees |
PLND_LAND_OFS_X: Land offset forward¶
Desired landing position of the camera forward of the target in vehicle body frame
Increment |
Range |
Units |
---|---|---|
1 |
-20 - 20 |
centimeters |
PLND_LAND_OFS_Y: Land offset right¶
desired landing position of the camera right of the target in vehicle body frame
Increment |
Range |
Units |
---|---|---|
1 |
-20 - 20 |
centimeters |
PLND_EST_TYPE: Precision Land Estimator Type¶
Specifies the estimation method to be used
Values |
||||||
---|---|---|---|---|---|---|
|
PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise¶
Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less
Range |
---|
0.5 - 5 |
PLND_CAM_POS_X: Camera X position offset¶
X position of the camera in body frame. Positive X is forward of the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
PLND_CAM_POS_Y: Camera Y position offset¶
Y position of the camera in body frame. Positive Y is to the right of the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
PLND_CAM_POS_Z: Camera Z position offset¶
Z position of the camera in body frame. Positive Z is down from the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
PLND_BUS: Sensor Bus¶
Precland sensor bus for I2C sensors.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
PLND_LAG: Precision Landing sensor lag¶
Precision Landing sensor lag, to cope with variable landing_target latency
Increment |
Range |
RebootRequired |
Units |
---|---|---|---|
1 |
0.02 - 0.250 |
True |
seconds |
PRX Parameters¶
PRX_TYPE: Proximity type¶
What type of proximity sensor is connected
RebootRequired |
Values |
||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
PRX_ORIENT: Proximity sensor orientation¶
Proximity sensor orientation
Values |
||||||
---|---|---|---|---|---|---|
|
PRX_YAW_CORR: Proximity sensor yaw correction¶
Proximity sensor yaw correction
Range |
Units |
---|---|
-180 - 180 |
degrees |
PRX_IGN_ANG1: Proximity sensor ignore angle 1¶
Proximity sensor ignore angle 1
Range |
Units |
---|---|
0 - 360 |
degrees |
PRX_IGN_WID1: Proximity sensor ignore width 1¶
Proximity sensor ignore width 1
Range |
Units |
---|---|
0 - 127 |
degrees |
PRX_IGN_ANG2: Proximity sensor ignore angle 2¶
Proximity sensor ignore angle 2
Range |
Units |
---|---|
0 - 360 |
degrees |
PRX_IGN_WID2: Proximity sensor ignore width 2¶
Proximity sensor ignore width 2
Range |
Units |
---|---|
0 - 127 |
degrees |
PRX_IGN_ANG3: Proximity sensor ignore angle 3¶
Proximity sensor ignore angle 3
Range |
Units |
---|---|
0 - 360 |
degrees |
PRX_IGN_WID3: Proximity sensor ignore width 3¶
Proximity sensor ignore width 3
Range |
Units |
---|---|
0 - 127 |
degrees |
PRX_IGN_ANG4: Proximity sensor ignore angle 4¶
Proximity sensor ignore angle 4
Range |
Units |
---|---|
0 - 360 |
degrees |
PRX_IGN_WID4: Proximity sensor ignore width 4¶
Proximity sensor ignore width 4
Range |
Units |
---|---|
0 - 127 |
degrees |
PRX_IGN_ANG5: Proximity sensor ignore angle 5¶
Proximity sensor ignore angle 5
Range |
Units |
---|---|
0 - 360 |
degrees |
PRX_IGN_WID5: Proximity sensor ignore width 5¶
Proximity sensor ignore width 5
Range |
Units |
---|---|
0 - 127 |
degrees |
PRX_IGN_ANG6: Proximity sensor ignore angle 6¶
Proximity sensor ignore angle 6
Range |
Units |
---|---|
0 - 360 |
degrees |
PRX_IGN_WID6: Proximity sensor ignore width 6¶
Proximity sensor ignore width 6
Range |
Units |
---|---|
0 - 127 |
degrees |
PRX_IGN_GND: Proximity sensor land detection¶
Ignore proximity data that is within 1 meter of the ground below the vehicle. This requires a downward facing rangefinder
Values |
||||||
---|---|---|---|---|---|---|
|
PRX_LOG_RAW: Proximity raw distances log¶
Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled
Values |
||||||
---|---|---|---|---|---|---|
|
PRX_FILT: Proximity filter cutoff frequency¶
Cutoff frequency for low pass filter applied to each face in the proximity boundary
Range |
Units |
---|---|
0 - 20 |
hertz |
PSC Parameters¶
PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency¶
Lower values will slow the response of the navigation controller and reduce twitchiness
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 5 |
hertz |
PSC_POSZ_P: Position (vertical) controller P gain¶
Position (vertical) controller P gain. Converts the difference between the desired altitude and actual altitude into a climb or descent rate which is passed to the throttle rate controller
Range |
---|
1.000 - 3.000 |
PSC_VELZ_P: Velocity (vertical) controller P gain¶
Velocity (vertical) controller P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
Range |
---|
1.000 - 8.000 |
PSC_VELZ_I: Velocity (vertical) controller I gain¶
Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration
Increment |
Range |
---|---|
0.01 |
0.02 - 1.00 |
PSC_VELZ_IMAX: Velocity (vertical) controller I gain maximum¶
Velocity (vertical) controller I gain maximum. Constrains the target acceleration that the I gain will output
Range |
---|
1.000 - 8.000 |
PSC_VELZ_D: Velocity (vertical) controller D gain¶
Velocity (vertical) controller D gain. Corrects short-term changes in velocity
Increment |
Range |
---|---|
0.001 |
0.00 - 1.00 |
PSC_VELZ_FF: Velocity (vertical) controller Feed Forward gain¶
Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target
Increment |
Range |
---|---|
0.01 |
0 - 1 |
PSC_VELZ_FLTE: Velocity (vertical) error filter¶
Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms
Range |
Units |
---|---|
0 - 100 |
hertz |
PSC_VELZ_FLTD: Velocity (vertical) input filter for D term¶
Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms
Range |
Units |
---|---|
0 - 100 |
hertz |
PSC_ACCZ_P: Acceleration (vertical) controller P gain¶
Acceleration (vertical) controller P gain. Converts the difference between desired vertical acceleration and actual acceleration into a motor output
Increment |
Range |
---|---|
0.05 |
0.200 - 1.500 |
PSC_ACCZ_I: Acceleration (vertical) controller I gain¶
Acceleration (vertical) controller I gain. Corrects long-term difference in desired vertical acceleration and actual acceleration
Range |
---|
0.000 - 3.000 |
PSC_ACCZ_IMAX: Acceleration (vertical) controller I gain maximum¶
Acceleration (vertical) controller I gain maximum. Constrains the maximum pwm that the I term will generate
Range |
Units |
---|---|
0 - 1000 |
decipercent |
PSC_ACCZ_D: Acceleration (vertical) controller D gain¶
Acceleration (vertical) controller D gain. Compensates for short-term change in desired vertical acceleration vs actual acceleration
Range |
---|
0.000 - 0.400 |
PSC_ACCZ_FF: Acceleration (vertical) controller feed forward¶
Acceleration (vertical) controller feed forward
Increment |
Range |
---|---|
0.001 |
0 - 0.5 |
PSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz¶
Acceleration (vertical) controller target frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
1 - 50 |
hertz |
PSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz¶
Acceleration (vertical) controller error frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
1 - 100 |
hertz |
PSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz¶
Acceleration (vertical) controller derivative frequency in Hz
Increment |
Range |
Units |
---|---|---|
1 |
1 - 100 |
hertz |
PSC_ACCZ_SMAX: Accel (vertical) 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 |
PSC_POSXY_P: Position (horizontal) controller P gain¶
Position controller P gain. Converts the distance (in the latitude direction) to the target location into a desired speed which is then passed to the loiter latitude rate controller
Range |
---|
0.500 - 2.000 |
PSC_VELXY_P: Velocity (horizontal) P gain¶
Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration
Increment |
Range |
---|---|
0.1 |
0.1 - 6.0 |
PSC_VELXY_I: Velocity (horizontal) I gain¶
Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration
Increment |
Range |
---|---|
0.01 |
0.02 - 1.00 |
PSC_VELXY_D: Velocity (horizontal) D gain¶
Velocity (horizontal) D gain. Corrects short-term changes in velocity
Increment |
Range |
---|---|
0.001 |
0.00 - 1.00 |
PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum¶
Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output
Increment |
Range |
Units |
---|---|---|
10 |
0 - 4500 |
centimeters per square second |
PSC_VELXY_FLTE: Velocity (horizontal) input filter¶
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms
Range |
Units |
---|---|
0 - 100 |
hertz |
PSC_VELXY_FLTD: Velocity (horizontal) input filter¶
Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term
Range |
Units |
---|---|
0 - 100 |
hertz |
PSC_VELXY_FF: Velocity (horizontal) feed forward gain¶
Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration
Increment |
Range |
---|---|
0.01 |
0 - 6 |
PSC_ANGLE_MAX: Position Control Angle Max¶
Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value
Increment |
Range |
Units |
---|---|---|
1 |
0 - 45 |
degrees |
PSC_JERK_XY: Jerk limit for the horizontal kinematic input shaping¶
Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target
Increment |
Range |
Units |
---|---|---|
1 |
1 - 20 |
meters per cubic second |
PSC_JERK_Z: Jerk limit for the vertical kinematic input shaping¶
Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target
Increment |
Range |
Units |
---|---|---|
1 |
5 - 50 |
meters per cubic second |
RALLY_ Parameters¶
RALLY_TOTAL: Rally Total¶
Number of rally points currently loaded
RALLY_LIMIT_KM: Rally Limit¶
Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.
Increment |
Units |
---|---|
0.1 |
kilometers |
RALLY_INCL_HOME: Rally Include Home¶
Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL
Values |
||||||
---|---|---|---|---|---|---|
|
RC Parameters¶
RC_OVERRIDE_TIME: RC override timeout¶
Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
Range |
Units |
---|---|
0.0 - 120.0 |
seconds |
RC_OPTIONS: RC options¶
RC input options
Bitmask |
||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC_PROTOCOLS: RC protocols enabled¶
Bitmask of enabled RC protocols. Allows narrowing the protocol detection to only specific types of RC receivers which can avoid issues with incorrect detection. Set to 1 to enable all protocols.
Bitmask |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC10_ Parameters¶
RC10_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC10_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC10_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC10_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC10_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC10_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC11_ Parameters¶
RC11_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC11_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC11_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC11_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC11_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC11_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC12_ Parameters¶
RC12_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC12_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC12_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC12_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC12_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC12_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC13_ Parameters¶
RC13_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC13_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC13_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC13_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC13_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC13_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC14_ Parameters¶
RC14_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC14_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC14_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC14_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC14_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC14_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC15_ Parameters¶
RC15_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC15_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC15_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC15_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC15_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC15_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC16_ Parameters¶
RC16_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC16_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC16_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC16_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC16_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC16_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC1_ Parameters¶
RC1_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC1_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC1_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC1_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC1_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC1_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC2_ Parameters¶
RC2_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC2_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC2_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC2_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC2_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC2_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC3_ Parameters¶
RC3_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC3_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC3_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC3_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC3_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC3_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC4_ Parameters¶
RC4_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC4_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC4_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC4_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC4_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC4_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC5_ Parameters¶
RC5_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC5_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC5_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC5_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC5_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC5_OPTION: RC input option¶
Function assigned to this RC channel
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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RC6_ Parameters¶
RC6_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC6_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC6_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC6_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC6_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC6_OPTION: RC input option¶
Function assigned to this RC channel
Values |
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RC7_ Parameters¶
RC7_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC7_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC7_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC7_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC7_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC7_OPTION: RC input option¶
Function assigned to this RC channel
Values |
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RC8_ Parameters¶
RC8_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC8_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC8_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC8_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC8_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC8_OPTION: RC input option¶
Function assigned to this RC channel
Values |
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RC9_ Parameters¶
RC9_MIN: RC min PWM¶
RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC9_TRIM: RC trim PWM¶
RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC9_MAX: RC max PWM¶
RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
RC9_REVERSED: RC reversed¶
Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.
Values |
||||||
---|---|---|---|---|---|---|
|
RC9_DZ: RC dead-zone¶
PWM dead zone in microseconds around trim or bottom
Range |
Units |
---|---|
0 - 200 |
PWM in microseconds |
RC9_OPTION: RC input option¶
Function assigned to this RC channel
Values |
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RCMAP_ Parameters¶
RCMAP_ROLL: Roll channel¶
Roll channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Roll is normally on channel 1, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Increment |
Range |
RebootRequired |
---|---|---|
1 |
1 - 8 |
True |
RCMAP_PITCH: Pitch channel¶
Pitch channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Pitch is normally on channel 2, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Increment |
Range |
RebootRequired |
---|---|---|
1 |
1 - 8 |
True |
RCMAP_THROTTLE: Throttle channel¶
Throttle channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Throttle is normally on channel 3, but you can move it to any channel with this parameter. Warning APM 2.X: Changing the throttle channel could produce unexpected fail-safe results if connection between receiver and on-board PPM Encoder is lost. Disabling on-board PPM Encoder is recommended. Reboot is required for changes to take effect.
Increment |
Range |
RebootRequired |
---|---|---|
1 |
1 - 8 |
True |
RCMAP_YAW: Yaw channel¶
Yaw channel number. This is useful when you have a RC transmitter that can't change the channel order easily. Yaw (also known as rudder) is normally on channel 4, but you can move it to any channel with this parameter. Reboot is required for changes to take effect.
Increment |
Range |
RebootRequired |
---|---|---|
1 |
1 - 8 |
True |
RELAY_ Parameters¶
RELAY_PIN: First Relay Pin¶
Digital pin number for first relay control. This is the pin used for camera control.
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RELAY_PIN2: Second Relay Pin¶
Digital pin number for 2nd relay control.
Values |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RELAY_PIN3: Third Relay Pin¶
Digital pin number for 3rd relay control.
Values |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RELAY_PIN4: Fourth Relay Pin¶
Digital pin number for 4th relay control.
Values |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RELAY_DEFAULT: Default relay state¶
The state of the relay on boot.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RELAY_PIN5: Fifth Relay Pin¶
Digital pin number for 5th relay control.
Values |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RELAY_PIN6: Sixth Relay Pin¶
Digital pin number for 6th relay control.
Values |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND1_ Parameters¶
RNGFND1_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND1_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND1_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND1_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND1_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND1_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND1_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND1_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND1_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND1_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND1_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND1_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND1_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND1_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND1_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND1_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND1_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND1_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND1_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND1_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND1_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND1_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND1_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFND2_ Parameters¶
RNGFND2_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND2_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND2_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND2_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND2_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND2_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND2_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND2_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND2_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND2_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND2_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND2_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND2_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND2_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND2_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND2_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND2_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND2_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND2_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND2_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND2_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND2_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND2_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFND3_ Parameters¶
RNGFND3_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND3_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND3_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND3_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND3_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND3_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND3_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND3_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND3_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND3_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND3_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND3_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND3_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND3_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND3_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND3_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND3_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND3_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND3_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND3_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND3_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND3_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND3_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFND4_ Parameters¶
RNGFND4_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND4_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND4_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND4_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND4_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND4_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND4_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND4_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND4_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND4_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND4_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND4_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND4_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND4_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND4_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND4_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND4_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND4_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND4_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND4_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND4_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND4_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND4_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFND5_ Parameters¶
RNGFND5_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND5_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND5_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND5_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND5_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND5_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND5_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND5_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND5_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND5_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND5_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND5_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND5_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND5_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND5_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND5_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND5_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND5_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND5_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND5_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND5_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND5_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND5_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFND6_ Parameters¶
RNGFND6_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND6_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND6_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND6_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND6_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND6_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND6_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND6_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND6_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND6_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND6_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND6_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND6_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND6_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND6_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND6_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND6_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND6_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND6_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND6_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND6_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND6_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND6_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFND7_ Parameters¶
RNGFND7_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND7_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND7_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND7_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND7_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND7_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND7_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND7_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND7_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND7_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND7_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND7_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND7_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND7_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND7_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND7_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND7_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND7_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND7_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND7_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND7_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND7_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND7_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFND8_ Parameters¶
RNGFND8_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND8_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND8_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND8_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND8_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND8_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND8_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND8_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND8_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND8_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND8_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND8_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND8_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND8_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND8_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND8_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND8_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND8_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND8_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND8_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND8_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND8_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND8_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFND9_ Parameters¶
RNGFND9_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND9_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND9_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFND9_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFND9_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFND9_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND9_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFND9_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND9_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND9_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFND9_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFND9_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND9_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND9_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFND9_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND9_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFND9_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFND9_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFND9_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFND9_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFND9_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFND9_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFND9_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RNGFNDA_ Parameters¶
RNGFNDA_TYPE: Rangefinder type¶
What type of rangefinder device that is connected
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFNDA_PIN: Rangefinder pin¶
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFNDA_SCALING: Rangefinder scaling¶
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.
Increment |
Units |
---|---|
0.001 |
meters per volt |
RNGFNDA_OFFSET: rangefinder offset¶
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
---|---|
0.001 |
volt |
RNGFNDA_FUNCTION: Rangefinder function¶
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RNGFNDA_MIN_CM: Rangefinder minimum distance¶
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFNDA_MAX_CM: Rangefinder maximum distance¶
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
---|---|
1 |
centimeters |
RNGFNDA_STOP_PIN: Rangefinder stop pin¶
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.
Values |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFNDA_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFNDA_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
---|---|
0 - 32767 |
meters |
RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground¶
This parameter sets the expected range measurement(in cm) that the range finder should return when the vehicle is on the ground.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 127 |
centimeters |
RNGFNDA_ADDR: Bus address of sensor¶
This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.
Increment |
Range |
---|---|
1 |
0 - 127 |
RNGFNDA_POS_X: X position offset¶
X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFNDA_POS_Y: Y position offset¶
Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFNDA_POS_Z: Z position offset¶
Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
RNGFNDA_ORIENT: Rangefinder orientation¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFNDA_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
---|
0 - 255 |
RNGFNDA_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
---|
0 - 255 |
RNGFNDA_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
---|
0 - 10000 |
RNGFNDA_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
---|
0 - 255 |
RNGFNDA_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
---|
-1 - 255 |
RNGFNDA_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
---|---|---|---|---|---|---|
|
RNGFNDA_RECV_ID: CAN receive ID¶
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
Range |
---|
0 - 65535 |
RNGFNDA_SNR_MIN: Minimum signal strength¶
Minimum signal strength (SNR) to accept distance
Range |
---|
0 - 65535 |
RPM Parameters¶
RPM_TYPE: RPM type¶
What type of RPM sensor is connected
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM_SCALING: RPM scaling¶
Scaling factor between sensor reading and RPM.
Increment |
---|
0.001 |
RPM_MAX: Maximum RPM¶
Maximum RPM to report
Increment |
---|
1 |
RPM_MIN: Minimum RPM¶
Minimum RPM to report
Increment |
---|
1 |
RPM_MIN_QUAL: Minimum Quality¶
Minimum data quality to be used
Increment |
---|
0.1 |
RPM_PIN: Input pin number¶
Which pin to use
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM2_TYPE: Second RPM type¶
What type of RPM sensor is connected
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM2_SCALING: RPM scaling¶
Scaling factor between sensor reading and RPM.
Increment |
---|
0.001 |
RPM2_PIN: RPM2 input pin number¶
Which pin to use
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RSSI_ Parameters¶
RSSI_TYPE: RSSI Type¶
Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RSSI_ANA_PIN: Receiver RSSI sensing pin¶
Pin used to read the RSSI voltage or PWM value
Values |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RSSI_PIN_LOW: RSSI pin's lowest voltage¶
RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH
Increment |
Range |
Units |
---|---|---|
0.01 |
0 - 5.0 |
volt |
RSSI_PIN_HIGH: RSSI pin's highest voltage¶
RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers put out inverted values so this value may be lower than RSSI_PIN_LOW
Increment |
Range |
Units |
---|---|---|
0.01 |
0 - 5.0 |
volt |
RSSI_CHANNEL: Receiver RSSI channel number¶
The channel number where RSSI will be output by the radio receiver (5 and above).
Range |
---|
0 - 16 |
RSSI_CHAN_LOW: RSSI PWM low value¶
PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers output inverted values so this value may be lower than RSSI_CHAN_HIGH
Range |
Units |
---|---|
0 - 2000 |
PWM in microseconds |
RSSI_CHAN_HIGH: Receiver RSSI PWM high value¶
PWM value that the radio receiver will put on the RSSI_CHANNEL or RSSI_ANA_PIN when the signal strength is the strongest. Some radio receivers output inverted values so this value may be higher than RSSI_CHAN_LOW
Range |
Units |
---|---|
0 - 2000 |
PWM in microseconds |
SCHED_ Parameters¶
SCHED_DEBUG: Scheduler debug level¶
Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
SCHED_LOOP_RATE: Scheduling main loop rate¶
This controls the rate of the main control loop in Hz. This should only be changed by developers. This only takes effect on restart. Values over 400 are considered highly experimental.
RebootRequired |
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SCHED_OPTIONS: Scheduling options¶
This controls optional aspects of the scheduler.
Bitmask |
||||
---|---|---|---|---|
|
SCR_ Parameters¶
SCR_ENABLE: Enable Scripting¶
Controls if scripting is enabled
RebootRequired |
Values |
||||||
---|---|---|---|---|---|---|---|
True |
|
SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count¶
The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
Increment |
Range |
---|---|
10000 |
1000 - 1000000 |
SCR_HEAP_SIZE: Scripting Heap Size¶
Amount of memory available for scripting
Increment |
Range |
RebootRequired |
---|---|---|
1024 |
1024 - 1048576 |
True |
SCR_DEBUG_LVL: Scripting Debug Level¶
The higher the number the more verbose builtin scripting debug will be.
SCR_USER1: Scripting User Parameter1¶
General purpose user variable input for scripts
SCR_USER2: Scripting User Parameter2¶
General purpose user variable input for scripts
SCR_USER3: Scripting User Parameter3¶
General purpose user variable input for scripts
SCR_USER4: Scripting User Parameter4¶
General purpose user variable input for scripts
SCR_DIR_DISABLE: Directory disable¶
This will stop scripts being loaded from the given locations
Bitmask |
RebootRequired |
||||||
---|---|---|---|---|---|---|---|
|
True |
SERIAL Parameters¶
SERIAL0_BAUD: Serial0 baud rate¶
The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL0_PROTOCOL: Console protocol selection¶
Control what protocol to use on the console.
RebootRequired |
Values |
||||||
---|---|---|---|---|---|---|---|
True |
|
SERIAL1_PROTOCOL: Telem1 protocol selection¶
Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SERIAL1_BAUD: Telem1 Baud Rate¶
The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL2_PROTOCOL: Telemetry 2 protocol selection¶
Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SERIAL2_BAUD: Telemetry 2 Baud Rate¶
The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection¶
Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SERIAL3_BAUD: Serial 3 (GPS) Baud Rate¶
The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL4_PROTOCOL: Serial4 protocol selection¶
Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SERIAL4_BAUD: Serial 4 Baud Rate¶
The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL5_PROTOCOL: Serial5 protocol selection¶
Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SERIAL5_BAUD: Serial 5 Baud Rate¶
The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL6_PROTOCOL: Serial6 protocol selection¶
Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SERIAL6_BAUD: Serial 6 Baud Rate¶
The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL1_OPTIONS: Telem1 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL2_OPTIONS: Telem2 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL3_OPTIONS: Serial3 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL4_OPTIONS: Serial4 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL5_OPTIONS: Serial5 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL6_OPTIONS: Serial6 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL_PASS1: Serial passthru first port¶
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASS2: Serial passthru second port¶
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASSTIMO: Serial passthru timeout¶
This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.
Range |
Units |
---|---|
0 - 120 |
seconds |
SERIAL7_PROTOCOL: Serial7 protocol selection¶
Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SERIAL7_BAUD: Serial 7 Baud Rate¶
The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL7_OPTIONS: Serial7 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERIAL8_PROTOCOL: Serial8 protocol selection¶
Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
RebootRequired |
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
True |
|
SERIAL8_BAUD: Serial 8 Baud Rate¶
The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL8_OPTIONS: Serial8 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERVO Parameters¶
SERVO_RATE: Servo default output rate¶
This sets the default output rate in Hz for all outputs.
Range |
Units |
---|---|
25 - 400 |
hertz |
SERVO_DSHOT_RATE: Servo DShot output rate¶
This sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_DSHOT_ESC: Servo DShot ESC type¶
This sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO10_ Parameters¶
SERVO10_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO10_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO10_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO10_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO10_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO11_ Parameters¶
SERVO11_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO11_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO11_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO11_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO11_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO12_ Parameters¶
SERVO12_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO12_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO12_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO12_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO12_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO13_ Parameters¶
SERVO13_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO13_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO13_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO13_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO13_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO14_ Parameters¶
SERVO14_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO14_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO14_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO14_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO14_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO15_ Parameters¶
SERVO15_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO15_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO15_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO15_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO15_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO16_ Parameters¶
SERVO16_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO16_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO16_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO16_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO16_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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|
SERVO1_ Parameters¶
SERVO1_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO1_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO1_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO1_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO1_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO2_ Parameters¶
SERVO2_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO2_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO2_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO2_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO2_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO3_ Parameters¶
SERVO3_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO3_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO3_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO3_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO3_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO4_ Parameters¶
SERVO4_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO4_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO4_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO4_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO4_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO5_ Parameters¶
SERVO5_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO5_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO5_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO5_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO5_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO6_ Parameters¶
SERVO6_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO6_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO6_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO6_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO6_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO7_ Parameters¶
SERVO7_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO7_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO7_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO7_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO7_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO8_ Parameters¶
SERVO8_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO8_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO8_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO8_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO8_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO9_ Parameters¶
SERVO9_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
500 - 2200 |
PWM in microseconds |
SERVO9_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO9_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
---|---|---|
1 |
800 - 2200 |
PWM in microseconds |
SERVO9_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO9_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_ Parameters¶
SERVO_BLH_MASK: BLHeli Channel Bitmask¶
Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors¶
If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO_BLH_TEST: BLHeli internal interface test¶
Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_TMOUT: BLHeli protocol timeout¶
This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout
Range |
Units |
---|---|
0 - 300 |
seconds |
SERVO_BLH_TRATE: BLHeli telemetry rate¶
This sets the rate in Hz for requesting telemetry from ESCs. It is the rate per ESC. Setting to zero disables telemetry requests
Range |
Units |
---|---|
0 - 500 |
hertz |
SERVO_BLH_DEBUG: BLHeli debug level¶
When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.
Values |
||||||
---|---|---|---|---|---|---|
|
SERVO_BLH_OTYPE: BLHeli output type override¶
When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_PORT: Control port¶
This sets the serial port to use for blheli pass-thru
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_POLES: BLHeli Motor Poles¶
This allows calculation of true RPM from ESC's eRPM. The default is 14.
Range |
---|
1 - 127 |
SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels¶
Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels¶
Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels¶
Mask of channels which are reversed. This is used to configure ESCs in reversed mode
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_FTW_ Parameters¶
SERVO_FTW_MASK: Servo channel output bitmask¶
Servo channel mask specifying FETtec ESC output.
Bitmask |
RebootRequired |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
True |
SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask¶
Servo channel mask to reverse rotation of FETtec ESC outputs.
Bitmask |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERVO_FTW_POLES: Nr. electrical poles¶
Number of motor electrical poles
Range |
---|
2 - 50 |
SERVO_ROB_ Parameters¶
SERVO_ROB_POSMIN: Robotis servo position min¶
Position minimum at servo min value. This should be within the position control range of the servos, normally 0 to 4095
Range |
---|
0 - 4095 |
SERVO_ROB_POSMAX: Robotis servo position max¶
Position maximum at servo max value. This should be within the position control range of the servos, normally 0 to 4095
Range |
---|
0 - 4095 |
SERVO_SBUS_ Parameters¶
SERVO_SBUS_RATE: SBUS default output rate¶
This sets the SBUS output frame rate in Hz.
Range |
Units |
---|---|
25 - 250 |
hertz |
SERVO_VOLZ_ Parameters¶
SERVO_VOLZ_MASK: Channel Bitmask¶
Enable of volz servo protocol to specific channels
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SID Parameters¶
SID_AXIS: System identification axis¶
Controls which axis are being excited. Set to non-zero to see more parameters
Values |
||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SID_MAGNITUDE: System identification Chirp Magnitude¶
Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.
SID_F_START_HZ: System identification Start Frequency¶
Frequency at the start of the sweep
Range |
Units |
---|---|
0.01 - 100 |
hertz |
SID_F_STOP_HZ: System identification Stop Frequency¶
Frequency at the end of the sweep
Range |
Units |
---|---|
0.01 - 100 |
hertz |
SID_T_FADE_IN: System identification Fade in time¶
Time to reach maximum amplitude of sweep
Range |
Units |
---|---|
0 - 20 |
seconds |
SID_T_REC: System identification Total Sweep length¶
Time taken to complete the sweep
Range |
Units |
---|---|
0 - 255 |
seconds |
SID_T_FADE_OUT: System identification Fade out time¶
Time to reach zero amplitude at the end of the sweep
Range |
Units |
---|---|
0 - 5 |
seconds |
SPRAY_ Parameters¶
SPRAY_ENABLE: Sprayer enable/disable¶
Allows you to enable (1) or disable (0) the sprayer
Values |
||||||
---|---|---|---|---|---|---|
|
SPRAY_PUMP_RATE: Pump speed¶
Desired pump speed when traveling 1m/s expressed as a percentage
Range |
Units |
---|---|
0 - 100 |
percent |
SPRAY_SPINNER: Spinner rotation speed¶
Spinner's rotation speed in PWM (a higher rate will disperse the spray over a wider area horizontally)
Range |
Units |
---|---|
1000 - 2000 |
milliseconds |
SPRAY_SPEED_MIN: Speed minimum¶
Speed minimum at which we will begin spraying
Range |
Units |
---|---|
0 - 1000 |
centimeters per second |
SPRAY_PUMP_MIN: Pump speed minimum¶
Minimum pump speed expressed as a percentage
Range |
Units |
---|---|
0 - 100 |
percent |
SR0_ Parameters¶
SR0_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR0_ADSB: ADSB stream rate to ground station¶
ADSB stream rate to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_ Parameters¶
SR1_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR1_ADSB: ADSB stream rate to ground station¶
ADSB stream rate to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_ Parameters¶
SR2_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR2_ADSB: ADSB stream rate to ground station¶
ADSB stream rate to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_ Parameters¶
SR3_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR3_ADSB: ADSB stream rate to ground station¶
ADSB stream rate to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_ Parameters¶
SR4_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR4_ADSB: ADSB stream rate to ground station¶
ADSB stream rate to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_ Parameters¶
SR5_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR5_ADSB: ADSB stream rate to ground station¶
ADSB stream rate to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_ Parameters¶
SR6_RAW_SENS: Raw sensor stream rate¶
Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and SENSOR_OFFSETS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_EXT_STAT: Extended status stream rate to ground station¶
Stream rate of SYS_STATUS, POWER_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, and FENCE_STATUS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_RC_CHAN: RC Channel stream rate to ground station¶
Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_RAW_CTRL: Unused¶
Unused
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_POSITION: Position stream rate to ground station¶
Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_EXTRA1: Extra data type 1 stream rate to ground station¶
Stream rate of ATTITUDE, SIMSTATE (SITL only), AHRS2 and PID_TUNING to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_EXTRA2: Extra data type 2 stream rate to ground station¶
Stream rate of VFR_HUD to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_EXTRA3: Extra data type 3 stream rate to ground station¶
Stream rate of AHRS, HWSTATUS, SYSTEM_TIME, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY2, MOUNT_STATUS, OPTICAL_FLOW, GIMBAL_REPORT, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION and RPM to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_PARAMS: Parameter stream rate to ground station¶
Stream rate of PARAM_VALUE to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SR6_ADSB: ADSB stream rate to ground station¶
ADSB stream rate to ground station
Increment |
Range |
Units |
---|---|---|
1 |
0 - 50 |
hertz |
SRTL_ Parameters¶
SRTL_ACCURACY: SmartRTL accuracy¶
SmartRTL accuracy. The minimum distance between points.
Range |
Units |
---|---|
0 - 10 |
meters |
SRTL_POINTS: SmartRTL maximum number of points on path¶
SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.
Range |
RebootRequired |
---|---|
0 - 500 |
True |
SRTL_OPTIONS: SmartRTL options¶
Bitmask of SmartRTL options.
Bitmask |
||||
---|---|---|---|---|
|
STAT Parameters¶
STAT_BOOTCNT: Boot Count¶
Number of times board has been booted
ReadOnly |
---|
True |
STAT_FLTTIME: Total FlightTime¶
Total FlightTime (seconds)
ReadOnly |
Units |
---|---|
True |
seconds |
STAT_RUNTIME: Total RunTime¶
Total time autopilot has run
ReadOnly |
Units |
---|---|
True |
seconds |
STAT_RESET: Statistics Reset Time¶
Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)
ReadOnly |
Units |
---|---|
True |
seconds |
TCAL Parameters¶
TCAL_ENABLED: Temperature calibration enable¶
Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
TCAL_TEMP_MIN: Temperature calibration min learned temperature¶
Minimum learned temperature. This is automatically set by the learning process
ReadOnly |
Units |
Volatile |
---|---|---|
True |
degrees Celsius |
True |
TCAL_TEMP_MAX: Temperature calibration max learned temperature¶
Maximum learned temperature. This is automatically set by the learning process
ReadOnly |
Units |
Volatile |
---|---|---|
True |
degrees Celsius |
True |
TCAL_BARO_EXP: Temperature Calibration barometer exponent¶
Learned exponent for barometer temperature correction
ReadOnly |
Volatile |
---|---|
True |
True |
TERRAIN_ Parameters¶
TERRAIN_ENABLE: Terrain data enable¶
enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.
Values |
||||||
---|---|---|---|---|---|---|
|
TERRAIN_SPACING: Terrain grid spacing¶
Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the ArduPilot SRTM database like Mission Planner or MAVProxy, then a resolution of 100 meters is appropriate. Grid spacings lower than 100 meters waste SD card space if the GCS cannot provide that resolution. The grid spacing also controls how much data is kept in memory during flight. A larger grid spacing will allow for a larger amount of data in memory. A grid spacing of 100 meters results in the vehicle keeping 12 grid squares in memory with each grid square having a size of 2.7 kilometers by 3.2 kilometers. Any additional grid squares are stored on the SD once they are fetched from the GCS and will be loaded as needed.
Increment |
Units |
---|---|
1 |
meters |
TERRAIN_OPTIONS: Terrain options¶
Options to change behaviour of terrain system
Bitmask |
||||
---|---|---|---|---|
|
TMODE Parameters¶
TMODE_ENABLE: tmode enable¶
tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
TMODE_MODE1: Tmode first mode¶
This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS
Values |
||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_MODE2: Tmode second mode¶
This is the secondary mode. This mode is assumed to require GPS
Values |
||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_ACTION1: Tmode action 1¶
This is the action taken when the left action button is pressed
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_ACTION2: Tmode action 2¶
This is the action taken when the right action button is pressed
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_ACTION3: Tmode action 3¶
This is the action taken when the power button is pressed
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_ACTION4: Tmode action 4¶
This is the action taken when the left action button is pressed while the left (Mode) button is held down
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_ACTION5: Tmode action 5¶
This is the action taken when the right action is pressed while the left (Mode) button is held down
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_ACTION6: Tmode action 6¶
This is the action taken when the power button is pressed while the left (Mode) button is held down
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_LEFT: Tmode left action¶
This is the action taken when the left (Mode) button is pressed
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TMODE_LEFT_LONG: Tmode left long action¶
This is the action taken when the left (Mode) button is long-pressed
Values |
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TMODE_TRIM_AUTO: Stick auto trim limit¶
This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500
Range |
---|
0 - 100 |
TMODE_RIGHT: Tmode right action¶
This is the action taken when the right (Return) button is pressed
Values |
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TMODE_FLAGS: Tmode flags¶
Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged
Bitmask |
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TMODE_VMIN: Min voltage for output limiting¶
This is the battery voltage below which no output limiting is done
Increment |
Range |
---|---|
0.01 |
0 - 5 |
TMODE_VMAX: Max voltage for output limiting¶
This is the battery voltage above which thrust min is used
Increment |
Range |
---|---|
0.01 |
0 - 5 |
TMODE_TMIN: Min thrust multiplier¶
This sets the thrust multiplier when voltage is high
Increment |
Range |
---|---|
0.01 |
0 - 1 |
TMODE_TMAX: Max thrust multiplier¶
This sets the thrust multiplier when voltage is low
Increment |
Range |
---|---|
0.01 |
0 - 1 |
TMODE_LOAD_MUL: Load test multiplier¶
This scales the load test output, as a value between 0 and 1
Increment |
Range |
---|---|
0.01 |
0 - 1 |
TMODE_LOAD_FILT: Load test filter¶
This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc
Range |
---|
0 - 100 |
TMODE_LOAD_TYPE: Load test type¶
This sets the type of load test
Values |
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VISO Parameters¶
VISO_TYPE: Visual odometry camera connection type¶
Visual odometry camera connection type
RebootRequired |
Values |
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---|---|---|---|---|---|---|---|---|---|
True |
|
VISO_POS_X: Visual odometry camera X position offset¶
X position of the camera in body frame. Positive X is forward of the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
VISO_POS_Y: Visual odometry camera Y position offset¶
Y position of the camera in body frame. Positive Y is to the right of the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
VISO_POS_Z: Visual odometry camera Z position offset¶
Z position of the camera in body frame. Positive Z is down from the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
VISO_ORIENT: Visual odometery camera orientation¶
Visual odometery camera orientation
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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VISO_SCALE: Visual odometry scaling factor¶
Visual odometry scaling factor applied to position estimates from sensor
VISO_DELAY_MS: Visual odometry sensor delay¶
Visual odometry sensor delay relative to inertial measurements
Range |
Units |
---|---|
0 - 250 |
milliseconds |
VISO_VEL_M_NSE: Visual odometry velocity measurement noise¶
Visual odometry velocity measurement noise in m/s
Range |
Units |
---|---|
0.05 - 5.0 |
meters per second |
VISO_POS_M_NSE: Visual odometry position measurement noise¶
Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)
Range |
Units |
---|---|
0.1 - 10.0 |
meters |
VISO_YAW_M_NSE: Visual odometry yaw measurement noise¶
Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)
Range |
Units |
---|---|
0.05 - 1.0 |
radians |
VTX_ Parameters¶
VTX_ENABLE: Is the Video Transmitter enabled or not¶
Toggles the Video Transmitter on and off
Values |
||||||
---|---|---|---|---|---|---|
|
VTX_POWER: Video Transmitter Power Level¶
Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level
Range |
---|
1 - 1000 |
VTX_CHANNEL: Video Transmitter Channel¶
Video Transmitter Channel
Range |
---|
0 - 7 |
VTX_BAND: Video Transmitter Band¶
Video Transmitter Band
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
VTX_FREQ: Video Transmitter Frequency¶
Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL
Range |
ReadOnly |
---|---|
5000 - 6000 |
True |
VTX_OPTIONS: Video Transmitter Options¶
Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels.
Bitmask |
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---|---|---|---|---|---|---|---|---|---|---|---|---|
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VTX_MAX_POWER: Video Transmitter Max Power Level¶
Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.
Range |
---|
25 - 1000 |
WINCH Parameters¶
WINCH_TYPE: Winch Type¶
Winch Type
Values |
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---|---|---|---|---|---|---|---|---|
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WINCH_RATE_MAX: Winch deploy or retract rate maximum¶
Winch deploy or retract rate maximum. Set to maximum rate with no load.
Range |
Units |
---|---|
0 - 10 |
meters per second |
WINCH_POS_P: Winch control position error P gain¶
Winch control position error P gain
Range |
---|
0.01 - 10.0 |
ZIGZ_ Parameters¶
ZIGZ_AUTO_ENABLE: ZigZag auto enable/disable¶
Allows you to enable (1) or disable (0) ZigZag auto feature
Values |
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---|---|---|---|---|---|---|
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ZIGZ_SPRAYER: Auto sprayer in ZigZag¶
Enable the auto sprayer in ZigZag mode. SPRAY_ENABLE = 1 and SERVOx_FUNCTION = 22(SprayerPump) / 23(SprayerSpinner) also must be set. This makes the sprayer on while moving to destination A or B. The sprayer will stop if the vehicle reaches destination or the flight mode is changed from ZigZag to other.
Values |
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---|---|---|---|---|---|---|
|
ZIGZ_WP_DELAY: The delay for zigzag waypoint¶
Waiting time after reached the destination
Range |
Units |
---|---|
1 - 127 |
seconds |
ZIGZ_SIDE_DIST: Sideways distance in ZigZag auto¶
The distance to move sideways in ZigZag mode
Range |
Units |
---|---|
0.1 - 100 |
meters |
ZIGZ_DIRECTION: Sideways direction in ZigZag auto¶
The direction to move sideways in ZigZag mode
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
ZIGZ_LINE_NUM: Total number of lines¶
Total number of lines for ZigZag auto if 1 or more. -1: Infinity, 0: Just moving to sideways
Range |
---|
-1 - 32767 |