Complete Parameter List

Full Parameter List of Copter stable V4.4.0

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

Note: This parameter is for advanced users

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

ReadOnly
True

SYSID_THISMAV: MAVLink system ID of this vehicle

Note: This parameter is for advanced users

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

Range
1 to 255

SYSID_MYGCS: My ground station number

Note: This parameter is for advanced users

Allows restricting radio overrides to only come from my ground station

Range
1 to 255

PILOT_THR_FILT: Throttle filter cutoff

Note: This parameter is for advanced users

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

Increment	Range	Units
.5	0 to 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 to 1000.0	centimeters

PILOT_THR_BHV: Throttle stick behavior

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

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

TELEM_DELAY: Telemetry startup delay

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 30	seconds

GCS_PID_MASK: GCS PID tuning mask

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

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

RTL_ALT: RTL Altitude

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

Increment	Range	Units
1	200 to 300000	centimeters

RTL_CONE_SLOPE: RTL cone slope

Defines a cone above home which determines maximum climb

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

RTL_SPEED: RTL speed

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

Increment	Range	Units
50	0 to 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 to 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 to 3000	centimeters

RTL_LOIT_TIME: RTL loiter time

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

Increment	Range	Units
1000	0 to 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
Value Meaning 0 Relative to Home 1 Terrain

FS_GCS_ENABLE: Ground Station Failsafe Enable

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

Values
Value Meaning 0 Disabled/NoAction 1 RTL 2 RTL or Continue with Mission in Auto Mode (Removed in 4.0+-see FS_OPTIONS) 3 SmartRTL or RTL 4 SmartRTL or Land 5 Land 6 Auto DO_LAND_START or RTL

GPS_HDOP_GOOD: GPS Hdop Good

Note: This parameter is for advanced users

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

Range
100 to 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. The bitmask is for flight mode switch positions

Bitmask
Bit Meaning 0 SwitchPos1 1 SwitchPos2 2 SwitchPos3 3 SwitchPos4 4 SwitchPos5 5 SwitchPos6

WP_YAW_BEHAVIOR: Yaw behaviour during missions

Determines how the autopilot controls the yaw during missions and RTL

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

LAND_SPEED: Land speed

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

Increment	Range	Units
10	30 to 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 to 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 to 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 to 500	centimeters per square second

FS_THR_ENABLE: Throttle Failsafe Enable

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

Values
Value Meaning 0 Disabled 1 Enabled always RTL 2 Enabled Continue with Mission in Auto Mode (Removed in 4.0+) 3 Enabled always Land 4 Enabled always SmartRTL or RTL 5 Enabled always SmartRTL or Land 6 Enabled Auto DO_LAND_START or RTL 7 Enabled always Brake or Land

FS_THR_VALUE: Throttle Failsafe Value

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

Increment	Range	Units
1	910 to 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 to 300	PWM in microseconds

FLTMODE1: Flight Mode 1

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is <= 1230

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate 27 Auto RTL

FLTMODE2: Flight Mode 2

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1230, <= 1360

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate 27 Auto RTL

FLTMODE3: Flight Mode 3

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1360, <= 1490

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate 27 Auto RTL

FLTMODE4: Flight Mode 4

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1490, <= 1620

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate 27 Auto RTL

FLTMODE5: Flight Mode 5

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >1620, <= 1749

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate 27 Auto RTL

FLTMODE6: Flight Mode 6

Flight mode when pwm of Flightmode channel(FLTMODE_CH) is >=1750

Values
Value Meaning 0 Stabilize 1 Acro 2 AltHold 3 Auto 4 Guided 5 Loiter 6 RTL 7 Circle 9 Land 11 Drift 13 Sport 14 Flip 15 AutoTune 16 PosHold 17 Brake 18 Throw 19 Avoid_ADSB 20 Guided_NoGPS 21 Smart_RTL 22 FlowHold 23 Follow 24 ZigZag 25 SystemID 26 Heli_Autorotate 27 Auto RTL

FLTMODE_CH: Flightmode channel

Note: This parameter is for advanced users

RC Channel to use for flight mode control

Values
Value Meaning 0 Disabled 5 Channel5 6 Channel6 7 Channel7 8 Channel8 9 Channel9 10 Channel 10 11 Channel 11 12 Channel 12 13 Channel 13 14 Channel 14 15 Channel 15

INITIAL_MODE: Initial flight mode

Note: This parameter is for advanced users

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

SIMPLE: Simple mode bitmask

Note: This parameter is for advanced users

Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode). The bitmask is for flightmode switch positions.

Bitmask
Bit Meaning 0 SwitchPos1 1 SwitchPos2 2 SwitchPos3 3 SwitchPos4 4 SwitchPos5 5 SwitchPos6

LOG_BITMASK: Log bitmask

Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all basiclog types by setting this to 65535.

Bitmask
Bit Meaning 0 Fast Attitude 1 Medium Attitude 2 GPS 3 System Performance 4 Control Tuning 5 Navigation Tuning 6 RC input 7 IMU 8 Mission Commands 9 Battery Monitor 10 RC output 11 Optical Flow 12 PID 13 Compass 15 Camera 17 Motors 18 Fast IMU 19 Raw IMU 20 Video Stabilization 21 Fast harmonic notch logging

ESC_CALIBRATION: ESC Calibration

Note: This parameter is for advanced users

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

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

TUNE: Channel 6 Tuning

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

Values

Value Meaning 0 None 1 Stab Roll/Pitch kP 4 Rate Roll/Pitch kP 5 Rate Roll/Pitch kI 21 Rate Roll/Pitch kD 3 Stab Yaw kP 6 Rate Yaw kP 26 Rate Yaw kD 56 Rate Yaw Filter 55 Motor Yaw Headroom 14 AltHold kP 7 Throttle Rate kP 34 Throttle Accel kP 35 Throttle Accel kI 36 Throttle Accel kD 12 Loiter Pos kP 22 Velocity XY kP 28 Velocity XY kI 10 WP Speed 25 Acro Roll/Pitch deg/s 40 Acro Yaw deg/s 45 RC Feel 13 Heli Ext Gyro 38 Declination 39 Circle Rate 46 Rate Pitch kP 47 Rate Pitch kI 48 Rate Pitch kD 49 Rate Roll kP 50 Rate Roll kI 51 Rate Roll kD 52 Rate Pitch FF 53 Rate Roll FF 54 Rate Yaw FF 58 SysID Magnitude 59 PSC Angle Max

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

Note: Reboot required after change

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

Values
Value Meaning 0 Plus 1 X 2 V 3 H 4 V-Tail 5 A-Tail 10 Y6B 11 Y6F 12 BetaFlightX 13 DJIX 14 ClockwiseX 15 I 18 BetaFlightXReversed 19 Y4

DISARM_DELAY: Disarm delay

Note: This parameter is for advanced users

Delay before automatic disarm in seconds after landing touchdown detection. A value of zero disables auto disarm. If Emergency Motor stop active, delay time is half this value.

Range	Units
0 to 127	seconds

ANGLE_MAX: Angle Max

Note: This parameter is for advanced users

Maximum lean angle in all flight modes

Increment	Range	Units
10	1000 to 8000	centidegrees

PHLD_BRAKE_RATE: PosHold braking rate

Note: This parameter is for advanced users

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

Range	Units
4 to 12	degrees per second

PHLD_BRAKE_ANGLE: PosHold braking angle max

Note: This parameter is for advanced users

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

Increment	Range	Units
10	2000 to 4500	centidegrees

LAND_REPOSITION: Land repositioning

Note: This parameter is for advanced users

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

Values
Value Meaning 0 No repositioning 1 Repositioning

FS_EKF_ACTION: EKF Failsafe Action

Note: This parameter is for advanced users

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

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

FS_EKF_THRESH: EKF failsafe variance threshold

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass, velocity, position and height variances. Used in arming check and EKF failsafe.

Values
Value Meaning 0.6 Strict 0.8 Default 1.0 Relaxed

FS_CRASH_CHECK: Crash check enable

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

RC_SPEED: ESC Update Speed

Note: This parameter is for advanced users

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

Increment	Range	Units
1	50 to 490	hertz

ACRO_BAL_ROLL: Acro Balance Roll

Note: This parameter is for advanced users

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

Increment	Range
0.1	0 to 3

ACRO_BAL_PITCH: Acro Balance Pitch

Note: This parameter is for advanced users

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

Increment	Range
0.1	0 to 3

ACRO_TRAINER: Acro Trainer

Note: This parameter is for advanced users

Type of trainer used in acro mode

Values
Value Meaning 0 Disabled 1 Leveling 2 Leveling and Limited

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
Value Meaning 0 Stopped 1 Running

WP_NAVALT_MIN: Minimum navigation altitude

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

Range
0 to 5

THROW_NEXTMODE: Throw mode's follow up mode

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

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

THROW_TYPE: Type of Type

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

Values
Value Meaning 0 Upward Throw 1 Drop

GND_EFFECT_COMP: Ground Effect Compensation Enable/Disable

Note: This parameter is for advanced users

Ground Effect Compensation Enable/Disable

Values
Value Meaning 0 Disabled 1 Enabled

DEV_OPTIONS: Development options

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 ADSBMavlinkProcessing 1 DevOptionVFR_HUDRelativeAlt

ACRO_THR_MID: Acro Thr Mid

Note: This parameter is for advanced users

Acro Throttle Mid

Range
0 to 1

SYSID_ENFORCE: GCS sysid enforcement

Note: This parameter is for advanced users

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

Values
Value Meaning 0 NotEnforced 1 Enforced

FRAME_CLASS: Frame Class

Note: Reboot required after change

Controls major frame class for multicopter component

Values
Value Meaning 0 Undefined 1 Quad 2 Hexa 3 Octa 4 OctaQuad 5 Y6 6 Heli 7 Tri 8 SingleCopter 9 CoaxCopter 10 BiCopter 11 Heli_Dual 12 DodecaHexa 13 HeliQuad 14 Deca 15 Scripting Matrix 16 6DoF Scripting 17 Dynamic Scripting Matrix

PILOT_SPEED_DN: Pilot maximum vertical speed descending

The maximum vertical descending velocity the pilot may request in cm/s. If 0 PILOT_SPEED_UP value is used.

Increment	Range	Units
10	0 to 500	centimeters per second

LAND_ALT_LOW: Land alt low

Note: This parameter is for advanced users

Altitude during Landing at which vehicle slows to LAND_SPEED

Increment	Range	Units
10	100 to 10000	centimeters

TUNE_MIN: Tuning minimum

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

TUNE_MAX: Tuning maximum

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

FS_VIBE_ENABLE: Vibration Failsafe enable

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

Values
Value Meaning 0 Disabled 1 Enabled

FS_OPTIONS: Failsafe options bitmask

Note: This parameter is for advanced users

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

Bitmask

Values

Bit Meaning 0 Continue if in Auto on RC failsafe 1 Continue if in Auto on GCS failsafe 2 Continue if in Guided on RC failsafe 3 Continue if landing on any failsafe 4 Continue if in pilot controlled modes on GCS failsafe 5 Release Gripper

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

ACRO_OPTIONS: Acro mode options

Note: This parameter is for advanced users

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
Bit Meaning 0 Air-mode 1 Rate Loop Only

AUTO_OPTIONS: Auto mode options

Note: This parameter is for advanced users

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
Bit Meaning 0 Allow Arming 1 Allow Takeoff Without Raising Throttle 2 Ignore pilot yaw 7 Allow weathervaning

GUID_OPTIONS: Guided mode options

Note: This parameter is for advanced users

Options that can be applied to change guided mode behaviour

Bitmask
Bit Meaning 0 Allow Arming from Transmitter 2 Ignore pilot yaw 3 SetAttitudeTarget interprets Thrust As Thrust 4 Do not stabilize PositionXY 5 Do not stabilize VelocityXY 6 Waypoint navigation used for position targets 7 Allow weathervaning

FS_GCS_TIMEOUT: GCS failsafe timeout

Timeout before triggering the GCS failsafe

Increment	Range	Units
1	2 to 120	seconds

RTL_OPTIONS: RTL mode options

Note: This parameter is for advanced users

Options that can be applied to change RTL mode behaviour

Bitmask
Bit Meaning 2 Ignore pilot yaw

FLIGHT_OPTIONS: Flight mode options

Note: This parameter is for advanced users

Flight mode specific options

Bitmask
Bit Meaning 0 Disable thrust loss check 1 Disable yaw imbalance warning 2 Release gripper on thrust loss

RNGFND_FILT: Rangefinder filter

Note: Reboot required after change

Rangefinder filter to smooth distance. Set to zero to disable filtering

Increment	Range	Units
0.05	0 to 5	hertz

GUID_TIMEOUT: Guided mode timeout

Note: This parameter is for advanced users

Guided mode timeout after which vehicle will stop or return to level if no updates are received from caller. Only applicable during any combination of velocity, acceleration, angle control, and/or angular rate control

Range	Units
0.1 to 5	seconds

SURFTRAK_MODE: Surface Tracking Mode

Note: This parameter is for advanced users

set which surface to track in surface tracking

Values
Value Meaning 0 Do not track 1 Ground 2 Ceiling

FS_DR_ENABLE: DeadReckon Failsafe Action

Failsafe action taken immediately as deadreckoning starts. Deadreckoning starts when EKF loses position and velocity source and relies only on wind estimates

Values
Value Meaning 0 Disabled/NoAction 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 6 Auto DO_LAND_START or RTL

FS_DR_TIMEOUT: DeadReckon Failsafe Timeout

DeadReckoning is available for this many seconds after losing position and/or velocity source. After this timeout elapses the EKF failsafe will trigger in modes requiring a position estimate

Range
0 to 120

ACRO_RP_RATE: Acro Roll and Pitch Rate

Acro mode maximum roll and pitch rate. Higher values mean faster rate of rotation

Range	Units
1 to 1080	degrees per second

ACRO_RP_EXPO: Acro Roll/Pitch Expo

Note: This parameter is for advanced users

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

Range	Values
-0.5 to 0.95	Value Meaning 0 Disabled 0.1 Very Low 0.2 Low 0.3 Medium 0.4 High 0.5 Very High

ACRO_RP_RATE_TC: Acro roll/pitch rate control input time constant

Acro roll and pitch rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Increment	Range	Units	Values
0.01	0 to 1	seconds	Value Meaning 0.5 Very Soft 0.2 Soft 0.15 Medium 0.1 Crisp 0.05 Very Crisp

ACRO_Y_RATE: Acro Yaw Rate

Acro mode maximum yaw rate. Higher value means faster rate of rotation

Range	Units
1 to 360	degrees per second

ACRO_Y_EXPO: Acro Yaw Expo

Note: This parameter is for advanced users

Acro yaw expo to allow faster rotation when stick at edges

Range	Values
-1.0 to 0.95	Value Meaning 0 Disabled 0.1 Very Low 0.2 Low 0.3 Medium 0.4 High 0.5 Very High

ACRO_Y_RATE_TC: Acro yaw rate control input time constant

Acro yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Increment	Range	Units	Values
0.01	0 to 1	seconds	Value Meaning 0.5 Very Soft 0.2 Soft 0.15 Medium 0.1 Crisp 0.05 Very Crisp

PILOT_Y_RATE: Pilot controlled yaw rate

Pilot controlled yaw rate max. Used in all pilot controlled modes except Acro

Range	Units
1 to 360	degrees per second

PILOT_Y_EXPO: Pilot controlled yaw expo

Note: This parameter is for advanced users

Pilot controlled yaw expo to allow faster rotation when stick at edges

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

PILOT_Y_RATE_TC: Pilot yaw rate control input time constant

Pilot yaw rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response

Increment	Range	Units	Values
0.01	0 to 1	seconds	Value Meaning 0.5 Very Soft 0.2 Soft 0.15 Medium 0.1 Crisp 0.05 Very Crisp

TKOFF_SLEW_TIME: Slew time of throttle during take-off

Time to slew the throttle from minimum to maximum while checking for a succsessful takeoff.

Range	Units
0.25 to 5.0	seconds

TKOFF_RPM_MIN: Takeoff Check RPM minimum

Takeoff is not permitted until motors report at least this RPM. Set to zero to disable check

Range
0 to 10000

PLDP_THRESH: Payload Place thrust ratio threshold

Ratio of vertical thrust during decent below which payload touchdown will trigger.

Range
0.5 to 0.9

PLDP_RNG_MIN: Payload Place minimum range finder altitude

Minimum range finder altitude in m to trigger payload touchdown, set to zero to disable.

Range	Units
0 to 100	meters

PLDP_DELAY: Payload Place climb delay

Delay after release, in seconds, before aircraft starts to climb back to starting altitude.

Range	Units
0 to 120	seconds

PLDP_SPEED_DN: Payload Place decent speed

The maximum vertical decent velocity in m/s. If 0 LAND_SPEED value is used.

Range	Units
0 to 5	meters per second

SURFTRAK_TC: Surface Tracking Filter Time Constant

Note: This parameter is for advanced users

Time to achieve 63.2% of the surface altitude measurement change. If 0 filtering is disabled

Range	Units
0 to 5	seconds

ADSB_ Parameters

ADSB_TYPE: ADSB Type

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 uAvionix-MAVLink 2 Sagetech 3 uAvionix-UCP 4 Sagetech MX Series

ADSB_LIST_MAX: ADSB vehicle list size

Note: This parameter is for advanced users

Note: Reboot required after change

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

Range
1 to 100

ADSB_LIST_RADIUS: ADSB vehicle list radius filter

Note: This parameter is for advanced users

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

Range	Units
0 to 100000	meters

ADSB_ICAO_ID: ICAO_ID vehicle identification number

Note: This parameter is for advanced users

ICAO_ID unique vehicle identification number of this aircraft. This is an 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 to 16777215

ADSB_EMIT_TYPE: Emitter type

Note: This parameter is for advanced users

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

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

ADSB_LEN_WIDTH: Aircraft length and width

Note: This parameter is for advanced users

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

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

ADSB_OFFSET_LAT: GPS antenna lateral offset

Note: This parameter is for advanced users

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

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

ADSB_OFFSET_LON: GPS antenna longitudinal offset

Note: This parameter is for advanced users

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

Values
Value Meaning 0 NO_DATA 1 AppliedBySensor

ADSB_RF_SELECT: Transceiver RF selection

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 Rx 1 Tx

ADSB_SQUAWK: Squawk code

Note: This parameter is for advanced users

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

Range	Units
0 to 7777	octal

ADSB_RF_CAPABLE: RF capabilities

Note: This parameter is for advanced users

Describes your hardware RF In/Out capabilities.

Bitmask
Bit Meaning 0 UAT_in 1 1090ES_in 2 UAT_out 3 1090ES_out

ADSB_LIST_ALT: ADSB vehicle list altitude filter

Note: This parameter is for advanced users

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

Range	Units
0 to 32767	meters

ADSB_ICAO_SPECL: ICAO_ID of special vehicle

Note: This parameter is for advanced users

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

ADSB_LOG: ADS-B logging

Note: This parameter is for advanced users

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

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

ADSB_OPTIONS: ADS-B Options

Note: This parameter is for advanced users

Options for emergency failsafe codes and device capabilities

Bitmask
Bit Meaning 0 Ping200X Send GPS 1 Squawk 7400 on RC failsafe 2 Squawk 7400 on GCS failsafe 3 Sagetech MXS use External Config

AFS_ Parameters

AFS_ENABLE: Enable Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_MAN_PIN: Manual Pin

Note: This parameter is for advanced users

This sets a digital output pin to set high when in manual mode. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

AFS_HB_PIN: Heartbeat Pin

Note: This parameter is for advanced users

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

AFS_WP_COMMS: Comms Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_WP_GPS_LOSS: GPS Loss Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate

Note: This parameter is for advanced users

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

AFS_TERM_ACTION: Terminate action

Note: This parameter is for advanced users

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

AFS_TERM_PIN: Terminate Pin

Note: This parameter is for advanced users

This sets a digital output pin to set high on flight termination. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

AFS_AMSL_LIMIT: AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit

Note: This parameter is for advanced users

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

Units
meters

AFS_QNH_PRESSURE: QNH pressure

Note: This parameter is for advanced users

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

Units
hectopascal

AFS_MAX_GPS_LOSS: Maximum number of GPS loss events

Note: This parameter is for advanced users

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

AFS_MAX_COM_LOSS: Maximum number of comms loss events

Note: This parameter is for advanced users

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

AFS_GEOFENCE: Enable geofence Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC: Enable RC Advanced Failsafe

Note: This parameter is for advanced users

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

AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes

Note: This parameter is for advanced users

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

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

Note: This parameter is for advanced users

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

AFS_RC_FAIL_TIME: RC failure time

Note: This parameter is for advanced users

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

Units
seconds

AFS_MAX_RANGE: Max allowed range

Note: This parameter is for advanced users

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

Units
kilometers

AHRS_ Parameters

AHRS_GPS_GAIN: AHRS GPS gain

Note: This parameter is for advanced users

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

Increment	Range
.01	0.0 to 1.0

AHRS_GPS_USE: AHRS use GPS for DCM navigation and position-down

Note: This parameter is for advanced users

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.

Values
Value Meaning 0 Disabled 1 Use GPS for DCM position 2 Use GPS for DCM position and height

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

Increment	Range
.01	0.1 to 0.4

AHRS_RP_P: AHRS RP_P

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Increment	Range
.01	0.1 to 0.4

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 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 to +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 to +0.1745	radians

AHRS_TRIM_Z: AHRS Trim Yaw

Note: This parameter is for advanced users

Not Used

Increment	Range	Units
0.01	-0.1745 to +0.1745	radians

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Increment	Range
.01	0.001 to 0.5

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 10

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 2 Enable EKF2 3 Enable EKF3 11 ExternalAHRS

AHRS_CUSTOM_ROLL: Board orientation roll offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 to 180	degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 to 180	degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-180 to 180	degrees

AIS_ Parameters

AIS_TYPE: AIS receiver type

Note: Reboot required after change

AIS receiver type

Values
Value Meaning 0 None 1 NMEA AIVDM message

AIS_LIST_MAX: AIS vessel list size

Note: This parameter is for advanced users

AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.

Range
1 to 100

AIS_TIME_OUT: AIS vessel time out

Note: This parameter is for advanced users

if no updates are received in this time a vessel will be removed from the list

Range	Units
1 to 2000	seconds

AIS_LOGGING: AIS logging options

Note: This parameter is for advanced users

Bitmask of AIS logging options

Bitmask
Bit Meaning 0 Log all AIVDM messages 1 Log only unsupported AIVDM messages 2 Log decoded messages

ARMING_ Parameters

ARMING_ACCTHRESH: Accelerometer error threshold

Note: This parameter is for advanced users

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

Range	Units
0.25 to 3.0	meters per square second

ARMING_RUDDER: Arming with Rudder enable/disable

Note: This parameter is for advanced users

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!

Values
Value Meaning 0 Disabled 1 ArmingOnly 2 ArmOrDisarm

ARMING_MIS_ITEMS: Required mission items

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 Land 1 VTOL Land 2 DO_LAND_START 3 Takeoff 4 VTOL Takeoff 5 Rallypoint 6 RTL

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
Bit Meaning 0 All 1 Barometer 2 Compass 3 GPS lock 4 INS 5 Parameters 6 RC Channels 7 Board voltage 8 Battery Level 10 Logging Available 11 Hardware safety switch 12 GPS Configuration 13 System 14 Mission 15 Rangefinder 16 Camera 17 AuxAuth 18 VisualOdometry 19 FFT

ARMING_OPTIONS: Arming options

Note: This parameter is for advanced users

Options that can be applied to change arming behaviour

Values
Value Meaning 0 None 1 Disable prearm display

AROT_ Parameters

AROT_ENABLE: Enable settings for RSC Setpoint

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

AROT_HS_P: P gain for head speed controller

Note: This parameter is for advanced users

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

Increment	Range
0.01	0.3 to 1

AROT_HS_SET_PT: Target Head Speed

Note: This parameter is for advanced users

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

Increment	Range	Units
1	1000 to 2800	Revolutions Per Minute

AROT_TARG_SP: Target Glide Ground Speed

Note: This parameter is for advanced users

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

Increment	Range	Units
50	800 to 2000	centimeters per second

AROT_COL_FILT_E: Entry Phase Collective Filter

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.2 to 0.5	hertz

AROT_COL_FILT_G: Glide Phase Collective Filter

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.03 to 0.15	hertz

AROT_AS_ACC_MAX: Forward Acceleration Limit

Note: This parameter is for advanced users

Maximum forward acceleration to apply in speed controller.

Increment	Range	Units
10	30 to 60	centimeters per square second

AROT_BAIL_TIME: Bail Out Timer

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 4	seconds

AROT_HS_SENSOR: Main Rotor RPM Sensor

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 3	seconds

AROT_FW_V_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

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

Increment	Range
0.1	0.1 to 6.0

AROT_FW_V_FF: Velocity (horizontal) feed forward

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 to 1

ARSPD Parameters

ARSPD_ENABLE: Airspeed Enable

Enable airspeed sensor support

Values
Value Meaning 0 Disable 1 Enable

ARSPD_TUBE_ORDER: Control pitot tube order

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Values
Value Meaning 0 Normal 1 Swapped 2 Auto Detect

ARSPD_PRIMARY: Primary airspeed sensor

Note: This parameter is for advanced users

This selects which airspeed sensor will be the primary if multiple sensors are found

Values
Value Meaning 0 FirstSensor 1 2ndSensor

ARSPD_OPTIONS: Airspeed options bitmask

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

Bitmask
Bit Meaning 0 SpeedMismatchDisable 1 AllowSpeedMismatchRecovery 2 DisableVoltageCorrection 3 UseEkf3Consistency

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

Units
meters per second

ARSPD_WIND_WARN: Airspeed and ground speed difference that gives a warning

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

Units
meters per second

ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle.

Range
0.0 to 10.0

ARSPD_OFF_PCNT: Maximum offset cal speed error

Note: This parameter is for advanced users

The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibraions before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.

Range	Units
0.0 to 10.0	percent

ARSPD2_ Parameters

ARSPD2_TYPE: Airspeed type

Type of airspeed sensor

Values
Value Meaning 0 None 1 I2C-MS4525D0 2 Analog 3 I2C-MS5525 4 I2C-MS5525 (0x76) 5 I2C-MS5525 (0x77) 6 I2C-SDP3X 7 I2C-DLVR-5in 8 DroneCAN 9 I2C-DLVR-10in 10 I2C-DLVR-20in 11 I2C-DLVR-30in 12 I2C-DLVR-60in 13 NMEA water speed 14 MSP 15 ASP5033 100 SITL

ARSPD2_USE: Airspeed use

This parameter is not used by this vehicle. Always set to 0.

Values
Value Meaning 0 DoNotUse 1 Use 2 UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD2_RATIO: Airspeed ratio

Note: This parameter is for advanced users

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

Increment
0.1

ARSPD2_PIN: Airspeed pin

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.

ARSPD2_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0.

Note: This parameter is for advanced users

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

ARSPD2_TUBE_ORDR: Control pitot tube order

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Values
Value Meaning 0 Normal 1 Swapped 2 Auto Detect

ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

Values
Value Meaning 0 Disable 1 Enable

ARSPD2_PSI_RANGE: The PSI range of the device

Note: This parameter is for advanced users

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

ARSPD2_BUS: Airspeed I2C bus

Note: This parameter is for advanced users

Note: Reboot required after change

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

Values
Value Meaning 0 Bus0 1 Bus1 2 Bus2

ARSPD2_DEVID: Airspeed ID

Note: This parameter is for advanced users

Airspeed sensor ID, taking into account its type, bus and instance

ReadOnly
True

ARSPD_ Parameters

ARSPD_TYPE: Airspeed type

Type of airspeed sensor

Values
Value Meaning 0 None 1 I2C-MS4525D0 2 Analog 3 I2C-MS5525 4 I2C-MS5525 (0x76) 5 I2C-MS5525 (0x77) 6 I2C-SDP3X 7 I2C-DLVR-5in 8 DroneCAN 9 I2C-DLVR-10in 10 I2C-DLVR-20in 11 I2C-DLVR-30in 12 I2C-DLVR-60in 13 NMEA water speed 14 MSP 15 ASP5033 100 SITL

ARSPD_USE: Airspeed use

This parameter is not used by this vehicle. Always set to 0.

Values
Value Meaning 0 DoNotUse 1 Use 2 UseWhenZeroThrottle

ARSPD_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD_RATIO: Airspeed ratio

Note: This parameter is for advanced users

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

Increment
0.1

ARSPD_PIN: Airspeed pin

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.

ARSPD_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0.

Note: This parameter is for advanced users

Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

ARSPD_TUBE_ORDR: Control pitot tube order

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.

Values
Value Meaning 0 Normal 1 Swapped 2 Auto Detect

ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

Values
Value Meaning 0 Disable 1 Enable

ARSPD_PSI_RANGE: The PSI range of the device

Note: This parameter is for advanced users

This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

ARSPD_BUS: Airspeed I2C bus

Note: This parameter is for advanced users

Note: Reboot required after change

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

Values
Value Meaning 0 Bus0 1 Bus1 2 Bus2

ARSPD_DEVID: Airspeed ID

Note: This parameter is for advanced users

Airspeed sensor ID, taking into account its type, bus and instance

ReadOnly
True

ATC_ Parameters

ATC_SLEW_YAW: Yaw target slew rate

Note: This parameter is for advanced users

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

Increment	Range	Units
100	500 to 18000	centidegrees per second

ATC_ACCEL_Y_MAX: Acceleration Max for Yaw

Note: This parameter is for advanced users

Maximum acceleration in yaw axis

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

ATC_RATE_FF_ENAB: Rate Feedforward Enable

Note: This parameter is for advanced users

Controls whether body-frame rate feedfoward is enabled or disabled

Values
Value Meaning 0 Disabled 1 Enabled

ATC_ACCEL_R_MAX: Acceleration Max for Roll

Note: This parameter is for advanced users

Maximum acceleration in roll axis

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

ATC_ACCEL_P_MAX: Acceleration Max for Pitch

Note: This parameter is for advanced users

Maximum acceleration in pitch axis

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

ATC_ANGLE_BOOST: Angle Boost

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

ATC_ANG_RLL_P: Roll axis angle controller P gain

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

Range
3.000 to 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 to 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 to 12.000

ATC_ANG_LIM_TC: Angle Limit (to maintain altitude) Time Constant

Note: This parameter is for advanced users

Angle Limit (to maintain altitude) Time Constant

Range
0.5 to 10.0

ATC_RATE_R_MAX: Angular Velocity Max for Roll

Note: This parameter is for advanced users

Maximum angular velocity in roll axis

Increment	Range	Units	Values
1	0 to 1080	degrees per second	Value Meaning 0 Disabled 60 Slow 180 Medium 360 Fast

ATC_RATE_P_MAX: Angular Velocity Max for Pitch

Note: This parameter is for advanced users

Maximum angular velocity in pitch axis

Increment	Range	Units	Values
1	0 to 1080	degrees per second	Value Meaning 0 Disabled 60 Slow 180 Medium 360 Fast

ATC_RATE_Y_MAX: Angular Velocity Max for Yaw

Note: This parameter is for advanced users

Maximum angular velocity in yaw axis

Increment	Range	Units	Values
1	0 to 1080	degrees per second	Value Meaning 0 Disabled 60 Slow 180 Medium 360 Fast

ATC_INPUT_TC: Attitude control input time constant

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

Increment	Range	Units	Values
0.01	0 to 1	seconds	Value Meaning 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. Corrects in proportion to the difference between the desired roll rate vs actual roll rate

Increment	Range
0.005	0.01 to 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 to 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 that the I term will output

Increment	Range
0.01	0 to 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 to 0.05

ATC_RAT_RLL_FF (AC_AttitudeControl_Multi): Roll axis rate controller feed forward

Roll axis rate controller feed forward

Increment	Range
0.001	0 to 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 to 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 to 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 to 100	hertz

ATC_RAT_RLL_SMAX (AC_AttitudeControl_Multi): Roll slew rate limit

Note: This parameter is for advanced users

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 to 200

ATC_RAT_PIT_P (AC_AttitudeControl_Multi): Pitch axis rate controller P gain

Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate output

Increment	Range
0.005	0.01 to 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 to 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 that the I term will output

Increment	Range
0.01	0 to 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 to 0.05

ATC_RAT_PIT_FF (AC_AttitudeControl_Multi): Pitch axis rate controller feed forward

Pitch axis rate controller feed forward

Increment	Range
0.001	0 to 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 to 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 to 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 to 100	hertz

ATC_RAT_PIT_SMAX (AC_AttitudeControl_Multi): Pitch slew rate limit

Note: This parameter is for advanced users

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 to 200

ATC_RAT_YAW_P (AC_AttitudeControl_Multi): Yaw axis rate controller P gain

Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate

Increment	Range
0.005	0.10 to 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 to 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 that the I term will output

Increment	Range
0.01	0 to 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 to 0.02

ATC_RAT_YAW_FF (AC_AttitudeControl_Multi): Yaw axis rate controller feed forward

Yaw axis rate controller feed forward

Increment	Range
0.001	0 to 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 to 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 to 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 to 50	hertz

ATC_RAT_YAW_SMAX (AC_AttitudeControl_Multi): Yaw slew rate limit

Note: This parameter is for advanced users

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 to 200

ATC_THR_MIX_MIN: Throttle Mix Minimum

Note: This parameter is for advanced users

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

Range
0.1 to 0.25

ATC_THR_MIX_MAX: Throttle Mix Maximum

Note: This parameter is for advanced users

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

Range
0.5 to 0.9

ATC_THR_MIX_MAN: Throttle Mix Manual

Note: This parameter is for advanced users

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

Range
0.1 to 0.9

ATC_THR_G_BOOST: Throttle-gain boost

Note: This parameter is for advanced users

Throttle-gain boost ratio. A value of 0 means no boosting is applied, a value of 1 means full boosting is applied. Describes the ratio increase that is applied to angle P and PD on pitch and roll.

Range
0 to 1

ATC_HOVR_ROL_TRM: Hover Roll Trim

Note: This parameter is for advanced users

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

Increment	Range	Units
10	0 to 1000	centidegrees

ATC_RAT_RLL_P (AC_AttitudeControl_Heli): Roll axis rate controller P gain

Roll axis rate controller P gain. Corrects in proportion to the difference between the desired roll rate vs actual roll rate

Increment	Range
0.005	0.0 to 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 to 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 that the I term will output

Increment	Range
0.01	0 to 1

ATC_RAT_RLL_ILMI: Roll axis rate controller I-term leak minimum

Note: This parameter is for advanced users

Point below which I-term will not leak down

Range
0 to 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 to 0.03

ATC_RAT_RLL_FF (AC_AttitudeControl_Heli): Roll axis rate controller feed forward

Roll axis rate controller feed forward

Increment	Range
0.001	0.05 to 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 to 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 to 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 to 50	hertz

ATC_RAT_RLL_SMAX (AC_AttitudeControl_Heli): Roll slew rate limit

Note: This parameter is for advanced users

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 to 200

ATC_RAT_PIT_P (AC_AttitudeControl_Heli): Pitch axis rate controller P gain

Pitch axis rate controller P gain. Corrects in proportion to the difference between the desired pitch rate vs actual pitch rate

Increment	Range
0.005	0.0 to 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 to 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 that the I term will output

Increment	Range
0.01	0 to 1

ATC_RAT_PIT_ILMI: Pitch axis rate controller I-term leak minimum

Note: This parameter is for advanced users

Point below which I-term will not leak down

Range
0 to 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 to 0.03

ATC_RAT_PIT_FF (AC_AttitudeControl_Heli): Pitch axis rate controller feed forward

Pitch axis rate controller feed forward

Increment	Range
0.001	0.05 to 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 to 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 to 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 to 50	hertz

ATC_RAT_PIT_SMAX (AC_AttitudeControl_Heli): Pitch slew rate limit

Note: This parameter is for advanced users

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 to 200

ATC_RAT_YAW_P (AC_AttitudeControl_Heli): Yaw axis rate controller P gain

Yaw axis rate controller P gain. Corrects in proportion to the difference between the desired yaw rate vs actual yaw rate

Increment	Range
0.005	0.180 to 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 to 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 that the I term will output

Increment	Range
0.01	0 to 1

ATC_RAT_YAW_ILMI: Yaw axis rate controller I-term leak minimum

Note: This parameter is for advanced users

Point below which I-term will not leak down

Range
0 to 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 to 0.02

ATC_RAT_YAW_FF (AC_AttitudeControl_Heli): Yaw axis rate controller feed forward

Yaw axis rate controller feed forward

Increment	Range
0.001	0 to 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 to 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 to 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 to 50	hertz

ATC_RAT_YAW_SMAX (AC_AttitudeControl_Heli): Yaw slew rate limit

Note: This parameter is for advanced users

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 to 200

ATC_PIRO_COMP: Piro Comp Enable

Note: This parameter is for advanced users

Pirouette compensation enabled

Values
Value Meaning 0 Disabled 1 Enabled

AUTOTUNE_ Parameters

AUTOTUNE_AXES (AC_AutoTune_Multi): Autotune axis bitmask

1-byte bitmap of axes to autotune

Bitmask
Bit Meaning 0 Roll 1 Pitch 2 Yaw 3 YawD

AUTOTUNE_AGGR: Autotune aggressiveness

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

Range
0.05 to 0.10

AUTOTUNE_MIN_D: AutoTune minimum D

Defines the minimum D gain

Range
0.001 to 0.006

AUTOTUNE_AXES (AC_AutoTune_Heli): Autotune axis bitmask

1-byte bitmap of axes to autotune

Bitmask
Bit Meaning 0 Roll 1 Pitch 2 Yaw

AUTOTUNE_SEQ: AutoTune Sequence Bitmask

2-byte bitmask to select what tuning should be performed. Max gain automatically performed if Rate D is selected. Values: 7:All,1:VFF Only,2:Rate D/Rate P Only(incl max gain),4:Angle P Only,8:Max Gain Only,16:Tune Check,3:VFF and Rate D/Rate P(incl max gain),5:VFF and Angle P,6:Rate D/Rate P(incl max gain) and angle P

Bitmask
Bit Meaning 0 VFF 1 Rate D/Rate P(incl max gain) 2 Angle P 3 Max Gain Only 4 Tune Check

AUTOTUNE_FRQ_MIN: AutoTune minimum sweep frequency

Defines the start frequency for sweeps and dwells

Range
10 to 30

AUTOTUNE_FRQ_MAX: AutoTune maximum sweep frequency

Defines the end frequency for sweeps and dwells

Range
50 to 120

AUTOTUNE_GN_MAX: AutoTune maximum response gain

Defines the response gain (output/input) to tune

Range
1 to 2.5

AUTOTUNE_VELXY_P: AutoTune velocity xy P gain

Velocity xy P gain used to hold position during Max Gain, Rate P, and Rate D frequency sweeps

Range
0 to 1

AVD_ Parameters

AVD_ENABLE: Enable Avoidance using ADSB

Note: This parameter is for advanced users

Enable Avoidance using ADSB

Values
Value Meaning 0 Disabled 1 Enabled

AVD_F_ACTION: Collision Avoidance Behavior

Note: This parameter is for advanced users

Specifies aircraft behaviour when a collision is imminent

Values
Value Meaning 0 None 1 Report 2 Climb Or Descend 3 Move Horizontally 4 Move Perpendicularly in 3D 5 RTL 6 Hover

AVD_W_ACTION: Collision Avoidance Behavior - Warn

Note: This parameter is for advanced users

Specifies aircraft behaviour when a collision may occur

Values
Value Meaning 0 None 1 Report

AVD_F_RCVRY: Recovery behaviour after a fail event

Note: This parameter is for advanced users

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

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

AVD_OBS_MAX: Maximum number of obstacles to track

Note: This parameter is for advanced users

Maximum number of obstacles to track

AVD_W_TIME: Time Horizon Warn

Note: This parameter is for advanced users

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

Units
seconds

AVD_F_TIME: Time Horizon Fail

Note: This parameter is for advanced users

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

Units
seconds

AVD_W_DIST_XY: Distance Warn XY

Note: This parameter is for advanced users

Closest allowed projected distance before W_ACTION is undertaken

Units
meters

AVD_F_DIST_XY: Distance Fail XY

Note: This parameter is for advanced users

Closest allowed projected distance before F_ACTION is undertaken

Units
meters

AVD_W_DIST_Z: Distance Warn Z

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_W is undertaken

Units
meters

AVD_F_DIST_Z: Distance Fail Z

Note: This parameter is for advanced users

Closest allowed projected distance before BEHAVIOUR_F is undertaken

Units
meters

AVD_F_ALT_MIN: ADS-B avoidance minimum altitude

Note: This parameter is for advanced users

Minimum 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
Bit Meaning 0 UseFence 1 UseProximitySensor 2 UseBeaconFence

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 to 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 to 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 to 10	meters

AVOID_BEHAVE: Avoidance behaviour

Avoidance behaviour (slide or stop)

Values
Value Meaning 0 Slide 1 Stop

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 to 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 to 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 to 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 to 2	meters

BARO Parameters

BARO1_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO_GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Increment	Units	Volatile
1	degrees Celsius	True

BARO_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

Increment	Units
0.1	meters

BARO_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

Values
Value Meaning 0 FirstBaro 1 2ndBaro 2 3rdBaro

BARO_EXT_BUS: External baro bus

Note: This parameter is for advanced users

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

Values
Value Meaning -1 Disabled 0 Bus0 1 Bus1 6 Bus6

BARO2_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO3_GND_PRESS: Absolute Pressure

Note: This parameter is for advanced users

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 to 100	percent

BARO_PROBE_EXT: External barometers to probe

Note: This parameter is for advanced users

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_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 BARO_EXT_BUS.

Bitmask
Bit Meaning 0 BMP085 1 BMP280 2 MS5611 3 MS5607 4 MS5637 5 FBM320 6 DPS280 7 LPS25H 8 Keller 9 MS5837 10 BMP388 11 SPL06 12 MSP

BARO1_DEVID: Baro ID

Note: This parameter is for advanced users

Barometer sensor ID, taking into account its type, bus and instance

ReadOnly
True

BARO2_DEVID: Baro ID2

Note: This parameter is for advanced users

Barometer2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

BARO3_DEVID: Baro ID3

Note: This parameter is for advanced users

Barometer3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

BARO_FIELD_ELV: field elevation

Note: This parameter is for advanced users

User provided field elevation in meters. 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. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.

Increment	Units	Volatile
0.1	meters	True

BARO_ALTERR_MAX: Altitude error maximum

Note: This parameter is for advanced users

This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.

Increment	Range	Units
1	0 to 5000	meters

BARO_OPTIONS: Barometer options

Note: This parameter is for advanced users

Barometer options

Bitmask
Bit Meaning 0 Treat MS5611 as MS5607

BARO1_WCF_ Parameters

BARO1_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning 0 Disabled 1 Enabled

BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_ Parameters

BARO2_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning 0 Disabled 1 Enabled

BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_ Parameters

BARO3_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values
Value Meaning 0 Disabled 1 Enabled

BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 to 1.0

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT2_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT2_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT2_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT2_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT2_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT2_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT2_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT2_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT2_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT2_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT2_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT2_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT2_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT2_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT2_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT2_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT2_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT2_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT2_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT2_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT3_ Parameters

BATT3_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT3_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT3_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT3_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT3_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT3_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT3_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT3_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT3_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT3_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT3_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT3_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT3_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT3_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT3_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT3_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT3_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT3_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT3_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT3_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT3_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT3_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT3_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT3_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT3_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT3_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT3_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT4_ Parameters

BATT4_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT4_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT4_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT4_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT4_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT4_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT4_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT4_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT4_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT4_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT4_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT4_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT4_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT4_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT4_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT4_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT4_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT4_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT4_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT4_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT4_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT4_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT4_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT4_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT4_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT4_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT4_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT5_ Parameters

BATT5_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT5_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT5_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT5_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT5_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT5_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT5_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT5_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT5_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT5_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT5_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT5_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT5_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT5_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT5_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT5_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT5_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT5_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT5_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT5_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT5_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT5_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT5_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT5_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT5_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT5_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT5_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT6_ Parameters

BATT6_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT6_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT6_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT6_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT6_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT6_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT6_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT6_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT6_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT6_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT6_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT6_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT6_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT6_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT6_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT6_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT6_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT6_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT6_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT6_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT6_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT6_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT6_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT6_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT6_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT6_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT6_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT7_ Parameters

BATT7_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT7_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT7_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT7_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT7_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT7_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT7_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT7_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT7_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT7_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT7_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT7_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT7_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT7_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT7_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT7_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT7_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT7_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT7_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT7_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT7_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT7_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT7_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT7_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT7_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT7_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT7_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT8_ Parameters

BATT8_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT8_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT8_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT8_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT8_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT8_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT8_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT8_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT8_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT8_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT8_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT8_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT8_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT8_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT8_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT8_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT8_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT8_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT8_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT8_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT8_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT8_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT8_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT8_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT8_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT8_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT8_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT9_ Parameters

BATT9_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT9_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT9_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT9_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT9_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT9_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT9_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT9_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT9_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT9_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT9_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT9_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT9_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT9_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT9_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT9_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT9_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT9_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT9_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT9_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT9_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT9_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT9_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT9_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT9_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT9_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT9_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BATT_ Parameters

BATT_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value Meaning 0 Disabled 3 Analog Voltage Only 4 Analog Voltage and Current 5 Solo 6 Bebop 7 SMBus-Generic 8 DroneCAN-BatteryInfo 9 ESC 10 Sum Of Selected Monitors 11 FuelFlow 12 FuelLevelPWM 13 SMBUS-SUI3 14 SMBUS-SUI6 15 NeoDesign 16 SMBus-Maxell 17 Generator-Elec 18 Generator-Fuel 19 Rotoye 20 MPPT 21 INA2XX 22 LTC2946 23 Torqeedo 24 FuelLevelAnalog 25 Synthetic Current and Analog Voltage 26 INA239_SPI 27 EFI

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 to 120	seconds

BATT_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values
Value Meaning 0 Raw Voltage 1 Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage

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

Increment	Units
0.1	volt

BATT_LOW_MAH: Low battery capacity

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

Increment	Units
50	milliampere hour

BATT_CRT_VOLT: Critical battery voltage

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

Increment	Units
0.1	volt

BATT_CRT_MAH: Battery critical capacity

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

Increment	Units
50	milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT_FS_CRT_ACT: Critical battery failsafe action

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

Values
Value Meaning 0 None 1 Land 2 RTL 3 SmartRTL or RTL 4 SmartRTL or Land 5 Terminate 6 Auto DO_LAND_START or RTL

BATT_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask
Bit Meaning 0 Ignore DroneCAN SoC 1 MPPT reports input voltage and current 2 MPPT Powered off when disarmed 3 MPPT Powered on when armed 4 MPPT Powered off at boot 5 MPPT Powered on at boot 6 Send resistance compensated voltage to GCS

BATT_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values
Value Meaning -1 Disabled 2 Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 5 Navigator 13 Pixhawk2_PM2/CubeOrange_PM2 14 CubeOrange 16 Durandal 100 PX4-v1

BATT_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

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

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units
volt

BATT_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied.

Units
volt

BATT_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 to 3

BATT_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATT_SUM_MASK: Battery Sum mask

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask
Bit Meaning 0 monitor 1 1 monitor 2 2 monitor 3 3 monitor 4 4 monitor 5 5 monitor 6 6 monitor 7 7 monitor 8 8 monitor 9

BATT_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range
.1 to 10

BATT_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range	Units
0.01 to 10	volt

BATT_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range
0.01 to 10

BATT_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users

Note: Reboot required after change

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range	Units
-1 to 1	hertz

BATT_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 103 Pixhawk SBUS

BATT_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range
7 to 100

BCN Parameters

BCN_TYPE: Beacon based position estimation device type

Note: This parameter is for advanced users

What type of beacon based position estimation device is connected

Values
Value Meaning 0 None 1 Pozyx 2 Marvelmind 3 Nooploop 10 SITL

BCN_LATITUDE: Beacon origin's latitude

Note: This parameter is for advanced users

Beacon origin's latitude

Increment	Range	Units
0.000001	-90 to 90	degrees

BCN_LONGITUDE: Beacon origin's longitude

Note: This parameter is for advanced users

Beacon origin's longitude

Increment	Range	Units
0.000001	-180 to 180	degrees

BCN_ALT: Beacon origin's altitude above sealevel in meters

Note: This parameter is for advanced users

Beacon origin's altitude above sealevel in meters

Increment	Range	Units
1	0 to 10000	meters

BCN_ORIENT_YAW: Beacon systems rotation from north in degrees

Note: This parameter is for advanced users

Beacon systems rotation from north in degrees

Increment	Range	Units
1	-180 to +180	degrees

BRD_ Parameters

BRD_SER1_RTSCTS: Serial 1 flow control

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled 2 Auto

BRD_SER2_RTSCTS: Serial 2 flow control

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 2 (telemetry 2). 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.

Values
Value Meaning 0 Disabled 1 Enabled 2 Auto

BRD_SER3_RTSCTS: Serial 3 flow control

Note: This parameter is for advanced users

Note: Reboot required after change

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.

Values
Value Meaning 0 Disabled 1 Enabled 2 Auto

BRD_SER4_RTSCTS: Serial 4 flow control

Note: This parameter is for advanced users

Note: Reboot required after change

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.

Values
Value Meaning 0 Disabled 1 Enabled 2 Auto

BRD_SER5_RTSCTS: Serial 5 flow control

Note: This parameter is for advanced users

Note: Reboot required after change

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.

Values
Value Meaning 0 Disabled 1 Enabled 2 Auto

BRD_SAFETY_DEFLT: Sets default state of the safety switch

Note: Reboot required after change

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.

Values
Value Meaning 0 Disabled 1 Enabled

BRD_SBUS_OUT: SBUS output rate

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the SBUS output frame rate in Hz

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

BRD_SERIAL_NUM: User-defined serial number

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

Range
-8388608 to 8388607

BRD_SAFETY_MASK: Outputs which ignore the safety switch state

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask
Bit Meaning 0 Output1 1 Output2 2 Output3 3 Output4 4 Output5 5 Output6 6 Output7 7 Output8 8 Output9 9 Output10 10 Output11 11 Output12 12 Output13 13 Output14

BRD_HEAT_TARG: Board heater temperature target

Note: This parameter is for advanced users

Board heater target temperature for boards with controllable 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 to 80	degrees Celsius

BRD_TYPE: Board type

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 AUTO 1 PX4V1 2 Pixhawk 3 Cube/Pixhawk2 4 Pixracer 5 PixhawkMini 6 Pixhawk2Slim 13 Intel Aero FC 14 Pixhawk Pro 20 AUAV2.1 21 PCNC1 22 MINDPXV2 23 SP01 24 CUAVv5/FMUV5 30 VRX BRAIN51 32 VRX BRAIN52 33 VRX BRAIN52E 34 VRX UBRAIN51 35 VRX UBRAIN52 36 VRX CORE10 38 VRX BRAIN54 39 PX4 FMUV6 100 PX4 OLDDRIVERS

BRD_IO_ENABLE: Enable IO co-processor

Note: This parameter is for advanced users

Note: Reboot required after change

This allows for the IO co-processor on boards with an IOMCU to be disabled. Setting to 2 will enable the IOMCU but not attempt to update firmware on startup

Values
Value Meaning 0 Disabled 1 Enabled 2 EnableNoFWUpdate

BRD_SAFETYOPTION: Options for safety button behavior

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

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

BRD_VBUS_MIN: Autopilot board voltage requirement

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	4.0 to 5.5	volt

BRD_VSERVO_MIN: Servo voltage requirement

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	3.3 to 12.0	volt

BRD_SD_SLOWDOWN: microSD slowdown

Note: This parameter is for advanced users

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

Increment	Range
1	0 to 32

BRD_PWM_VOLT_SEL: Set PWM Out Voltage

Note: This parameter is for advanced users

This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output. On boards with an IOMCU that support this parameter this option only affects the 8 main outputs, not the 6 auxilliary outputs. Using 5V output can help to reduce the impact of ESC noise interference corrupting signals to the ESCs.

Values
Value Meaning 0 3.3V 1 5V

BRD_OPTIONS: Board options

Note: This parameter is for advanced users

Board specific option flags

Bitmask
Bit Meaning 0 Enable hardware watchdog 1 Disable MAVftp 2 Enable set of internal parameters 3 Enable Debug Pins 4 Unlock flash on reboot 5 Write protect firmware flash on reboot 6 Write protect bootloader flash on reboot

BRD_BOOT_DELAY: Boot delay

Note: This parameter is for advanced users

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

Range	Units
0 to 10000	milliseconds

BRD_HEAT_P: Board Heater P gain

Note: This parameter is for advanced users

Board Heater P gain

Increment	Range
1	1 to 500

BRD_HEAT_I: Board Heater I gain

Note: This parameter is for advanced users

Board Heater integrator gain

Increment	Range
0.1	0 to 1

BRD_HEAT_IMAX: Board Heater IMAX

Note: This parameter is for advanced users

Board Heater integrator maximum

Increment	Range
1	0 to 100

BRD_ALT_CONFIG: Alternative HW config

Note: This parameter is for advanced users

Note: Reboot required after change

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
1	0 to 10

BRD_HEAT_LOWMGN: Board heater temp lower margin

Note: This parameter is for advanced users

Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check

Range	Units
0 to 20	degrees Celsius

BRD_SD_MISSION: SDCard Mission size

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the amount of storage in kilobytes reserved on the microsd card in mission.stg for waypoint storage. Each waypoint uses 15 bytes.

Range
0 to 64

BRD_RADIO Parameters

BRD_RADIO_TYPE: Set type of direct attached radio

This enables support for direct attached radio receivers

Values
Value Meaning 0 None 1 CYRF6936 2 CC2500 3 BK2425

BRD_RADIO_PROT: protocol

Note: This parameter is for advanced users

Select air protocol

Values
Value Meaning 0 Auto 1 DSM2 2 DSMX

BRD_RADIO_DEBUG: debug level

Note: This parameter is for advanced users

radio debug level

Range
0 to 4

BRD_RADIO_DISCRC: disable receive CRC

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values
Value Meaning 0 NotDisabled 1 Disabled

BRD_RADIO_SIGCH: RSSI signal strength

Note: This parameter is for advanced users

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

Range
0 to 16

BRD_RADIO_PPSCH: Packet rate channel

Note: This parameter is for advanced users

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

Range
0 to 16

BRD_RADIO_TELEM: Enable telemetry

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power

Note: This parameter is for advanced users

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

Range
1 to 8

BRD_RADIO_FCCTST: Put radio into FCC test mode

Note: This parameter is for advanced users

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

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

BRD_RADIO_STKMD: Stick input mode

Note: This parameter is for advanced users

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

Values
Value Meaning 1 Mode1 2 Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel

Note: This parameter is for advanced users

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

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

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 to 16

BRD_RADIO_TPPSCH: Telemetry PPS channel

Note: This parameter is for advanced users

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

Range
0 to 16

BRD_RADIO_TXMAX: Transmitter transmit power

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 to 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 to 40

BRD_RADIO_ABTIME: Auto-bind time

Note: This parameter is for advanced users

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

Range
0 to 120

BRD_RADIO_ABLVL: Auto-bind level

Note: This parameter is for advanced users

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

Range
0 to 31

BRD_RTC Parameters

BRD_RTC_TYPES: Allowed sources of RTC time

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask
Bit Meaning 0 GPS 1 MAVLINK_SYSTEM_TIME 2 HW

BRD_RTC_TZ_MIN: Timezone offset from UTC

Note: This parameter is for advanced users

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

Range
-720 to +840

BTN_ Parameters

BTN_ENABLE: Enable button reporting

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

BTN_PIN1: First button Pin

Digital pin number for first button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

BTN_PIN2: Second button Pin

Digital pin number for second button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

BTN_PIN3: Third button Pin

Digital pin number for third button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

BTN_PIN4: Fourth button Pin

Digital pin number for fourth button input. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

BTN_REPORT_SEND: Report send time

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

Range
0 to 3600

BTN_OPTIONS1: Button Pin 1 Options

Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask
Bit Meaning 0 PWM Input 1 InvertInput

BTN_OPTIONS2: Button Pin 2 Options

Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask
Bit Meaning 0 PWM Input 1 InvertInput

BTN_OPTIONS3: Button Pin 3 Options

Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask
Bit Meaning 0 PWM Input 1 InvertInput

BTN_OPTIONS4: Button Pin 4 Options

Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask
Bit Meaning 0 PWM Input 1 InvertInput

BTN_FUNC1: Button Pin 1 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

BTN_FUNC2: Button Pin 2 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

BTN_FUNC3: Button Pin 3 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

BTN_FUNC4: Button Pin 4 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

CAM Parameters

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 to 180	degrees

CAM_AUTO_ONLY: Distance-trigging in AUTO mode only

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

Values
Value Meaning 0 Always 1 Only when in AUTO

CAM1 Parameters

CAM1_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values
Value Meaning 1 Servo 2 Relay 3 GoPro in Solo Gimbal 4 Mount (Siyi) 5 MAVLink

CAM1_DURATION: Camera shutter duration held open

Duration in seconds that the camera shutter is held open

Range	Units
0 to 5	seconds

CAM1_SERVO_ON: Camera servo ON PWM value

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

Range	Units
1000 to 2000	PWM in microseconds

CAM1_SERVO_OFF: Camera servo OFF PWM value

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

Range	Units
1000 to 2000	PWM in microseconds

CAM1_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 to 1000	meters

CAM1_RELAY_ON: Camera relay ON value

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

Values
Value Meaning 0 Low 1 High

CAM1_INTRVAL_MIN: Camera minimum time interval between photos

Postpone shooting if previous picture was taken less than this many seconds ago

Range	Units
0 to 10	seconds

CAM1_FEEDBAK_PIN: Camera feedback pin

Note: Reboot required after change

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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

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

CAM1_FEEDBAK_POL: Camera feedback pin polarity

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

Values
Value Meaning 0 TriggerLow 1 TriggerHigh

CAM2 Parameters

CAM2_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values
Value Meaning 1 Servo 2 Relay 3 GoPro in Solo Gimbal 4 Mount (Siyi) 5 MAVLink

CAM2_DURATION: Camera shutter duration held open

Duration in seconds that the camera shutter is held open

Range	Units
0 to 5	seconds

CAM2_SERVO_ON: Camera servo ON PWM value

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

Range	Units
1000 to 2000	PWM in microseconds

CAM2_SERVO_OFF: Camera servo OFF PWM value

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

Range	Units
1000 to 2000	PWM in microseconds

CAM2_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 to 1000	meters

CAM2_RELAY_ON: Camera relay ON value

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

Values
Value Meaning 0 Low 1 High

CAM2_INTRVAL_MIN: Camera minimum time interval between photos

Postpone shooting if previous picture was taken less than this many seconds ago

Range	Units
0 to 10	seconds

CAM2_FEEDBAK_PIN: Camera feedback pin

Note: Reboot required after change

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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.

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

CAM2_FEEDBAK_POL: Camera feedback pin polarity

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

Values
Value Meaning 0 TriggerLow 1 TriggerHigh

CAM_RC_ Parameters

CAM_RC_TYPE: RunCam device type

RunCam deviee type used to determine OSD menu structure and shutter options.

Values
Value Meaning 0 Disabled 1 RunCam Split Micro/RunCam with UART 2 RunCam Split 3 RunCam Split4 4k 4 RunCam Hybrid/RunCam Thumb Pro 5 Runcam 2 4k

CAM_RC_FEATURES: RunCam features available

Note: This parameter is for advanced users

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
Bit Meaning 0 Power Button 1 WiFi Button 2 Change Mode 3 5-Key OSD 4 Settings Access 5 DisplayPort 6 Start Recording 7 Stop Recording

CAM_RC_BT_DELAY: RunCam boot delay before allowing updates

Note: This parameter is for advanced users

Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.

CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses

Note: This parameter is for advanced users

Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.

CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses

Note: This parameter is for advanced users

Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.

CAM_RC_CONTROL: RunCam control option

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu and other option like autorecording

Bitmask
Bit Meaning 0 Stick yaw right 1 Stick roll right 2 3-position switch 3 2-position switch 4 Autorecording enabled

CAN_ Parameters

CAN_LOGLEVEL: Loglevel

Note: This parameter is for advanced users

Loglevel for recording initialisation and debug information from CAN Interface

Range	Values
0 to 4	Value Meaning 0 Log None 1 Log Error 2 Log Warning and below 3 Log Info and below 4 Log Everything

CAN_D1_ Parameters

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 DroneCAN 4 PiccoloCAN 5 CANTester 6 EFI_NWPMU 7 USD1 8 KDECAN 10 Scripting 11 Benewake 12 Scripting2

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

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask
Bit Meaning 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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D1_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 500	hertz

CAN_D1_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask
Bit Meaning 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

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 to 500	hertz

CAN_D1_PC_ECU_ID: ECU Node ID

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D1_PC_ECU_RT: ECU command output rate

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D1_TST_ Parameters

CAN_D1_TST_ID: CAN Test Index

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range	Values
0 to 4	Value Meaning 0 TEST_NONE 1 TEST_LOOPBACK 2 TEST_BUSOFF_RECOVERY 3 TEST_UAVCAN_DNA 5 TEST_KDE_CAN 6 TEST_UAVCAN_ESC 7 TEST_UAVCAN_FD_ESC

CAN_D1_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D1_UC_ Parameters

CAN_D1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 to 250

CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

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

Bitmask
Bit Meaning 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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D1_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D1_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning 0 ClearDNADatabase 1 IgnoreDNANodeConflicts 2 EnableCanfd 3 IgnoreDNANodeUnhealthy 4 SendServoAsPWM 5 SendGNSS

CAN_D1_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 to 200	hertz

CAN_D1_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range
0 to 18

CAN_D1_UC_POOL: CAN pool size

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range
1024 to 16384

CAN_D2_ Parameters

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 DroneCAN 4 PiccoloCAN 5 CANTester 6 EFI_NWPMU 7 USD1 8 KDECAN 10 Scripting 11 Benewake 12 Scripting2

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

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask
Bit Meaning 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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D2_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 500	hertz

CAN_D2_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask
Bit Meaning 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

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 to 500	hertz

CAN_D2_PC_ECU_ID: ECU Node ID

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D2_PC_ECU_RT: ECU command output rate

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D2_TST_ Parameters

CAN_D2_TST_ID: CAN Test Index

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range	Values
0 to 4	Value Meaning 0 TEST_NONE 1 TEST_LOOPBACK 2 TEST_BUSOFF_RECOVERY 3 TEST_UAVCAN_DNA 5 TEST_KDE_CAN 6 TEST_UAVCAN_ESC 7 TEST_UAVCAN_FD_ESC

CAN_D2_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D2_UC_ Parameters

CAN_D2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 to 250

CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

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

Bitmask
Bit Meaning 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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D2_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D2_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning 0 ClearDNADatabase 1 IgnoreDNANodeConflicts 2 EnableCanfd 3 IgnoreDNANodeUnhealthy 4 SendServoAsPWM 5 SendGNSS

CAN_D2_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 to 200	hertz

CAN_D2_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range
0 to 18

CAN_D2_UC_POOL: CAN pool size

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range
1024 to 16384

CAN_D3_ Parameters

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 DroneCAN 4 PiccoloCAN 5 CANTester 6 EFI_NWPMU 7 USD1 8 KDECAN 10 Scripting 11 Benewake 12 Scripting2

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

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask
Bit Meaning 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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D3_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 to 500	hertz

CAN_D3_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask
Bit Meaning 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

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 to 500	hertz

CAN_D3_PC_ECU_ID: ECU Node ID

Note: This parameter is for advanced users

Node ID to send ECU throttle messages to. Set to zero to disable ECU throttle messages. Set to 255 to broadcast to all ECUs.

Range
0 to 255

CAN_D3_PC_ECU_RT: ECU command output rate

Note: This parameter is for advanced users

Output rate of ECU command messages

Range	Units
1 to 500	hertz

CAN_D3_TST_ Parameters

CAN_D3_TST_ID: CAN Test Index

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range	Values
0 to 4	Value Meaning 0 TEST_NONE 1 TEST_LOOPBACK 2 TEST_BUSOFF_RECOVERY 3 TEST_UAVCAN_DNA 5 TEST_KDE_CAN 6 TEST_UAVCAN_ESC 7 TEST_UAVCAN_FD_ESC

CAN_D3_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D3_UC_ Parameters

CAN_D3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 to 250

CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

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

Bitmask
Bit Meaning 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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 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 16 ESC 17 17 ESC 18 18 ESC 19 19 ESC 20 20 ESC 21 21 ESC 22 22 ESC 23 23 ESC 24 24 ESC 25 25 ESC 26 26 ESC 27 27 ESC 28 28 ESC 29 29 ESC 30 30 ESC 31 31 ESC 32

CAN_D3_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 to 200	hertz

CAN_D3_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask
Bit Meaning 0 ClearDNADatabase 1 IgnoreDNANodeConflicts 2 EnableCanfd 3 IgnoreDNANodeUnhealthy 4 SendServoAsPWM 5 SendGNSS

CAN_D3_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 to 200	hertz

CAN_D3_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range
0 to 18

CAN_D3_UC_POOL: CAN pool size

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range
1024 to 16384

CAN_P1_ Parameters

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values
Value Meaning 0 Disabled 1 First driver 2 Second driver 3 Third driver

CAN_P1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 to 1000000

CAN_P1_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values
Value Meaning 1 1M 2 2M 4 4M 5 5M 8 8M

CAN_P2_ Parameters

CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values
Value Meaning 0 Disabled 1 First driver 2 Second driver 3 Third driver

CAN_P2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 to 1000000

CAN_P2_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values
Value Meaning 1 1M 2 2M 4 4M 5 5M 8 8M

CAN_P3_ Parameters

CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values
Value Meaning 0 Disabled 1 First driver 2 Second driver 3 Third driver

CAN_P3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 to 1000000

CAN_P3_FDBITRATE: Bitrate of CANFD interface

Note: This parameter is for advanced users

Bit rate can be set up to from 1000000 to 8000000

Values
Value Meaning 1 1M 2 2M 4 4M 5 5M 8 8M

CAN_SLCAN_ Parameters

CAN_SLCAN_CPORT: SLCAN Route

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 First interface 2 Second interface

CAN_SLCAN_SERNUM: SLCAN Serial Port

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

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

CAN_SLCAN_TIMOUT: SLCAN Timeout

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

Range
0 to 127

CAN_SLCAN_SDELAY: SLCAN Start Delay

Duration after which slcan starts after setting SERNUM in seconds.

Range
0 to 127

CC Parameters

CC_TYPE: Custom control type

Note: This parameter is for advanced users

Note: Reboot required after change

Custom control type to be used

Values
Value Meaning 0 None 1 Empty 2 PID

CC_AXIS_MASK: Custom Controller bitmask

Note: This parameter is for advanced users

Custom Controller bitmask to chose which axis to run

Bitmask
Bit Meaning 0 Roll 1 Pitch 2 Yaw

CHUTE_ Parameters

CHUTE_ENABLED: Parachute release enabled or disabled

Parachute release enabled or disabled

Values
Value Meaning 0 Disabled 1 Enabled

CHUTE_TYPE: Parachute release mechanism type (relay or servo)

Parachute release mechanism type (relay or servo)

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

CHUTE_SERVO_ON: Parachute Servo ON PWM value

Parachute Servo PWM value in microseconds when parachute is released

Increment	Range	Units
1	1000 to 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 to 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 to 32000	meters

CHUTE_DELAY_MS: Parachute release delay

Delay in millseconds between motor stop and chute release

Increment	Range	Units
1	0 to 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 to 15	meters per second

CHUTE_OPTIONS: Parachute options

Optional behaviour for parachute

Bitmask
Bit Meaning 0 hold open forever after release

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 to 200000	centimeters

CIRCLE_RATE: Circle rate

Circle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise. Circle rate must be less than ATC_SLEW_YAW parameter.

Increment	Range	Units
1	-90 to 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
Bit Meaning 0 manual control 1 face direction of travel 2 Start at center rather than on perimeter

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 to 400	milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 to 400	milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 to 400	milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Increment	Range	Units
0.01	-3.142 to 3.142	radians

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

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

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

COMPASS_USE: Use compass for yaw

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_AUTODEC: Auto Declination

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_MOTCT: Motor interference compensation type

Note: This parameter is for advanced users

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

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

COMPASS_MOT_X: Motor interference compensation for body frame X axis

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 to 1000	milligauss per ampere

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Internal 1 External 2 ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 to 400	milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 to 400	milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 to 400	milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 to 1000	milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 to 400	milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 to 400	milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 to 400	milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 to 1000	milligauss per ampere

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_USE2: Compass2 used for yaw

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_ORIENT2: Compass2 orientation

Note: This parameter is for advanced users

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Internal 1 External 2 ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.

Values

Value Meaning 0 None 1 Yaw45 2 Yaw90 3 Yaw135 4 Yaw180 5 Yaw225 6 Yaw270 7 Yaw315 8 Roll180 9 Yaw45Roll180 10 Yaw90Roll180 11 Yaw135Roll180 12 Pitch180 13 Yaw225Roll180 14 Yaw270Roll180 15 Yaw315Roll180 16 Roll90 17 Yaw45Roll90 18 Yaw90Roll90 19 Yaw135Roll90 20 Roll270 21 Yaw45Roll270 22 Yaw90Roll270 23 Yaw135Roll270 24 Pitch90 25 Pitch270 26 Yaw90Pitch180 27 Yaw270Pitch180 28 Pitch90Roll90 29 Pitch90Roll180 30 Pitch90Roll270 31 Pitch180Roll90 32 Pitch180Roll270 33 Pitch270Roll90 34 Pitch270Roll180 35 Pitch270Roll270 36 Yaw90Pitch180Roll90 37 Yaw270Roll90 38 Yaw293Pitch68Roll180 39 Pitch315 40 Pitch315Roll90 42 Roll45 43 Roll315 100 Custom 4.1 and older 101 Custom 1 102 Custom 2

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Internal 1 External 2 ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

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

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

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

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

Increment	Range
1	500 to 3000

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 HMC5883 1 LSM303D 2 AK8963 3 BMM150 4 LSM9DS1 5 LIS3MDL 6 AK09916 7 IST8310 8 ICM20948 9 MMC3416 11 DroneCAN 12 QMC5883 14 MAG3110 15 IST8308 16 RM3100 17 MSP 18 ExternalAHRS

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 to 100	percent

COMPASS_AUTO_ROT: Automatically check orientation

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

Values
Value Meaning 0 Disabled 1 CheckOnly 2 CheckAndFix 3 use same tolerance to auto rotate 45 deg rotations

COMPASS_PRIO1_ID: Compass device id with 1st order priority

Note: This parameter is for advanced users

Note: Reboot required after change

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

COMPASS_PRIO2_ID: Compass device id with 2nd order priority

Note: This parameter is for advanced users

Note: Reboot required after change

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

COMPASS_PRIO3_ID: Compass device id with 3rd order priority

Note: This parameter is for advanced users

Note: Reboot required after change

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

COMPASS_ENABLE: Enable Compass

Note: Reboot required after change

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_SCALE: Compass1 scale factor

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

Range
0 to 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 to 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 to 1.3

COMPASS_OPTIONS: Compass options

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask
Bit Meaning 0 CalRequireGPS

COMPASS_DEV_ID4: Compass4 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID5: Compass5 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID6: Compass6 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID7: Compass7 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID8: Compass8 device id

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_CUS_ROLL: Custom orientation roll offset

Note: This parameter is for advanced users

Note: Reboot required after change

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	Units
1	-180 to 180	degrees

COMPASS_CUS_PIT: Custom orientation pitch offset

Note: This parameter is for advanced users

Note: Reboot required after change

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	Units
1	-180 to 180	degrees

COMPASS_CUS_YAW: Custom orientation yaw offset

Note: This parameter is for advanced users

Note: Reboot required after change

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	Units
1	-180 to 180	degrees

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values
Value Meaning 0 Disabled 1 Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 to 2

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

CUST_ROT Parameters

CUST_ROT_ENABLE: Enable Custom rotations

Note: Reboot required after change

This enables custom rotations

Values
Value Meaning 0 Disable 1 Enable

CUST_ROT1_ Parameters

CUST_ROT1_ROLL: Custom roll

Note: Reboot required after change

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT1_PITCH: Custom pitch

Note: Reboot required after change

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT1_YAW: Custom yaw

Note: Reboot required after change

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_ Parameters

CUST_ROT2_ROLL: Custom roll

Note: Reboot required after change

Custom euler roll, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_PITCH: Custom pitch

Note: Reboot required after change

Custom euler pitch, euler 321 (yaw, pitch, roll) ordering

Units
degrees

CUST_ROT2_YAW: Custom yaw

Note: Reboot required after change

Custom euler yaw, euler 321 (yaw, pitch, roll) ordering

Units
degrees

DID_ Parameters

DID_ENABLE: Enable ODID subsystem

Enable ODID subsystem

Values
Value Meaning 0 Disabled 1 Enabled

DID_MAVPORT: MAVLink serial port

Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.

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

DID_CANDRIVER: DroneCAN driver number

DroneCAN driver index, 0 to disable DroneCAN

Values
Value Meaning 0 Disabled 1 Driver1 2 Driver2

DID_OPTIONS: OpenDroneID options

Options for OpenDroneID subsystem

Bitmask
Bit Meaning 0 EnforceArming 1 AllowNonGPSPosition

DID_BARO_ACC: Barometer vertical accuraacy

Note: This parameter is for advanced users

Barometer Vertical Accuracy when installed in the vehicle. Note this is dependent upon installation conditions and thus disabled by default

Units
meters

EAHRS Parameters

EAHRS_TYPE: AHRS type

Type of AHRS device

Values
Value Meaning 0 None 1 VectorNav 2 LORD

EAHRS_RATE: AHRS data rate

Requested rate for AHRS device

Units
hertz

EAHRS_OPTIONS: External AHRS options

External AHRS options bitmask

Bitmask
Bit Meaning 0 Vector Nav use uncompensated values for accel gyro and mag.

EAHRS_SENSORS: External AHRS sensors

Note: This parameter is for advanced users

External AHRS sensors bitmask

Bitmask
Bit Meaning 0 GPS 1 IMU 2 Baro 3 Compass

EFI Parameters

EFI_TYPE: EFI communication type

Note: This parameter is for advanced users

Note: Reboot required after change

What method of communication is used for EFI #1

Values
Value Meaning 0 None 1 Serial-MS 2 NWPMU 3 Serial-Lutan 5 DroneCAN 6 Currawong-ECU 7 Scripting

EFI_COEF1: EFI Calibration Coefficient 1

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle

Range
0 to 1

EFI_COEF2: EFI Calibration Coefficient 2

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1

Range
0 to 10

EFI_FUEL_DENS: ECU Fuel Density

Note: This parameter is for advanced users

Used to calculate fuel consumption

Range	Units
0 to 10000	kilograms per cubic meter

EK2_ Parameters

EK2_ENABLE: Enable EKF2

Note: This parameter is for advanced users

Note: Reboot required after change

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.

Values
Value Meaning 0 Disabled 1 Enabled

EK2_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

EK2_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 to 100	meters

EK2_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users

Note: Reboot required after change

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).

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

EK2_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 250	milliseconds

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 to 0.5	gauss

EK2_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, 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
Value Meaning 0 When flying 1 When manoeuvring 2 Never 3 After first climb yaw reset 4 Always

EK2_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK2_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	1.0 to 4.0	radians per second

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 1.0	radians per second

EK2_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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	Units
10	0 to 127	milliseconds

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.0001	0.0001 to 0.1	radians per second

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 to 1.0	meters per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.001	radians per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.000001 to 0.001	hertz

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.005	meters per cubic second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 to 1.0	meters per square second

EK2_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Increment	Range
0.1	0.0 to 1.0

EK2_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK2_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

Note: Reboot required after change

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

EK2_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range	Units
50 to 200	percent

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range	Units
0.5 to 50.0	meters

EK2_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 1.0	radians

EK2_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

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

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 to 50	centiseconds

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.01	gauss per second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.01	gauss per second

EK2_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). 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 to 70	percent

EK2_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 to 0.2

EK2_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK2_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK2_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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	Units
10	0 to 127	milliseconds

EK2_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Increment	Range	Units
0.5	2.0 to 6.0	meters per second

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

Note: This parameter is for advanced users

Note: Reboot required after change

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

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

Note: Reboot required after change

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

EK2_FLOW_USE: Optical flow use bitmask

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 None 1 Navigation 2 Terrain

EK2_MAG_EF_LIM: EarthField error limit

Note: This parameter is for advanced users

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

Range	Units
0 to 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	Units
0.1 to 30.0	hertz

EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run

Note: This parameter is for advanced users

Note: Reboot required after change

A bitmask 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_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.

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

EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used

Note: This parameter is for advanced users

Note: Reboot required after change

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_MASK 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.

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

EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed

Note: This parameter is for advanced users

Note: Reboot required after change

Sets the maximum number of times the EKF2 will be allowed to reset its 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_MASK parameter.

Increment	Range
1	1 to 10

EK3_ Parameters

EK3_ENABLE: Enable EKF3

Note: This parameter is for advanced users

Note: Reboot required after change

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.

Values
Value Meaning 0 Disabled 1 Enabled

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 5.0	meters per second

EK3_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 to 100	meters

EK3_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 250	milliseconds

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 to 0.5	gauss

EK3_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

Note: Reboot required after change

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.

Values
Value Meaning 0 When flying 1 When manoeuvring 2 Never 3 After first climb yaw reset 4 Always 5 Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW) 6 External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)

EK3_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK3_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	1.0 to 4.0	radians per second

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 1.0	radians per second

EK3_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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	Units
10	0 to 250	milliseconds

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.0001	0.0001 to 0.1	radians per second

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	0.01 to 1.0	meters per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.001	radians per square second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.02	meters per cubic second

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

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 to 2.0	meters per square second

EK3_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

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

Increment	Range
0.1	0.0 to 2.0

EK3_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

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

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

EK3_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users

Note: Reboot required after change

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

EK3_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

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

Range	Units
50 to 200	percent

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

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

Range	Units
0.5 to 50.0	meters

EK3_BETA_MASK: Bitmask controlling sidelip angle fusion

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 Always 1 WhenNoYawSensor

EK3_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 1.0	radians

EK3_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

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

Note: This parameter is for advanced users

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

Increment	Range	Units
5	10 to 50	centiseconds

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.01	gauss per second

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

Note: This parameter is for advanced users

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

Range	Units
0.00001 to 0.01	gauss per second

EK3_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see 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 to 70	percent

EK3_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 to 0.2

EK3_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.1 to 10.0	meters

EK3_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

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

Increment	Range
25	100 to 1000

EK3_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users

Note: Reboot required after change

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

Increment	Range	Units
10	0 to 250	milliseconds

EK3_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

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

Increment	Range	Units
0.5	2.0 to 6.0	meters per second

EK3_ACC_BIAS_LIM: Accelerometer bias limit

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 2.5	meters per square second

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

Note: This parameter is for advanced users

Note: Reboot required after change

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

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users

Note: Reboot required after change

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

EK3_VIS_VERR_MIN: Visual odometry minimum velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.05	0.05 to 0.5	meters per second

EK3_VIS_VERR_MAX: Visual odometry maximum velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.5 to 5.0	meters per second

EK3_WENC_VERR: Wheel odometry velocity error

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0.01 to 1.0	meters per second

EK3_FLOW_USE: Optical flow use bitmask

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 None 1 Navigation 2 Terrain

EK3_HRT_FILT: Height rate filter crossover frequency

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

Range	Units
0.1 to 30.0	hertz

EK3_MAG_EF_LIM: EarthField error limit

Note: This parameter is for advanced users

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

Range	Units
0 to 500	milligauss

EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run

Note: This parameter is for advanced users

Note: Reboot required after change

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_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.

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

EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used

Note: This parameter is for advanced users

Note: Reboot required after change

A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK 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.

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

EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed

Note: This parameter is for advanced users

Note: Reboot required after change

Sets the maximum number of times the EKF3 will be allowed to reset its 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_MASK parameter.

Increment	Range
1	1 to 10

EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold

Note: This parameter is for advanced users

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 to 1

EK3_AFFINITY: EKF3 Sensor Affinity Options

Note: This parameter is for advanced users

Note: Reboot required after change

These options control the affinity between sensor instances and EKF cores

Bitmask
Bit Meaning 0 EnableGPSAffinity 1 EnableBaroAffinity 2 EnableCompassAffinity 3 EnableAirspeedAffinity

EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag

Note: This parameter is for advanced users

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_DRAG_MCOEF parameter.

Range	Units
0.0 to 1000.0	kilograms per square meter

EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag

Note: This parameter is for advanced users

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_DRAG_MCOEF parameter.

Range	Units
50.0 to 1000.0	kilograms per square meter

EK3_DRAG_M_NSE: Observation noise for drag acceleration

Note: This parameter is for advanced users

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters

Increment	Range	Units
0.1	0.1 to 2.0	meters per square second

EK3_DRAG_MCOEF: Momentum coefficient for propeller drag

Note: This parameter is for advanced users

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_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters.

Increment	Range	Units
0.01	0.0 to 1.0	per second

EK3_OGNM_TEST_SF: On ground not moving test scale factor

Note: This parameter is for advanced users

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 to 10.0

EK3_GND_EFF_DZ: Baro height ground effect dead zone

Note: This parameter is for advanced users

This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when taking 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 to 10.0

EK3_PRIMARY: Primary core number

Note: This parameter is for advanced users

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 to 2

EK3_LOG_LEVEL: Logging Level

Note: This parameter is for advanced users

Determines how verbose the EKF3 streaming logging is. A value of 0 provides full logging(default), a value of 1 only XKF4 scaled innovations are logged, a value of 2 both XKF4 and GSF are logged, and a value of 3 disables all streaming logging of EKF3.

Increment	Range
1	0 to 3

EK3_GPS_VACC_MAX: GPS vertical accuracy threshold

Note: This parameter is for advanced users

Vertical accuracy threshold for GPS as the altitude source. The GPS will not be used as an altitude source if the reported vertical accuracy of the GPS is larger than this threshold, falling back to baro instead. Set to zero to deactivate the threshold check.

Increment	Range	Units
0.1	0.0 to 10.0	meters

EK3_SRC Parameters

EK3_SRC1_POSXY: Position Horizontal Source (Primary)

Note: This parameter is for advanced users

Position Horizontal Source (Primary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC1_VELXY: Velocity Horizontal Source

Note: This parameter is for advanced users

Velocity Horizontal Source

Values
Value Meaning 0 None 3 GPS 4 Beacon 5 OpticalFlow 6 ExternalNav 7 WheelEncoder

EK3_SRC1_POSZ: Position Vertical Source

Note: This parameter is for advanced users

Position Vertical Source

Values
Value Meaning 0 None 1 Baro 2 RangeFinder 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC1_VELZ: Velocity Vertical Source

Note: This parameter is for advanced users

Velocity Vertical Source

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC1_YAW: Yaw Source

Note: This parameter is for advanced users

Yaw Source

Values
Value Meaning 0 None 1 Compass 2 GPS 3 GPS with Compass Fallback 6 ExternalNav 8 GSF

EK3_SRC2_POSXY: Position Horizontal Source (Secondary)

Note: This parameter is for advanced users

Position Horizontal Source (Secondary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)

Note: This parameter is for advanced users

Velocity Horizontal Source (Secondary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 5 OpticalFlow 6 ExternalNav 7 WheelEncoder

EK3_SRC2_POSZ: Position Vertical Source (Secondary)

Note: This parameter is for advanced users

Position Vertical Source (Secondary)

Values
Value Meaning 0 None 1 Baro 2 RangeFinder 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)

Note: This parameter is for advanced users

Velocity Vertical Source (Secondary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC2_YAW: Yaw Source (Secondary)

Note: This parameter is for advanced users

Yaw Source (Secondary)

Values
Value Meaning 0 None 1 Compass 2 GPS 3 GPS with Compass Fallback 6 ExternalNav 8 GSF

EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)

Note: This parameter is for advanced users

Position Horizontal Source (Tertiary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)

Note: This parameter is for advanced users

Velocity Horizontal Source (Tertiary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 5 OpticalFlow 6 ExternalNav 7 WheelEncoder

EK3_SRC3_POSZ: Position Vertical Source (Tertiary)

Note: This parameter is for advanced users

Position Vertical Source (Tertiary)

Values
Value Meaning 0 None 1 Baro 2 RangeFinder 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)

Note: This parameter is for advanced users

Velocity Vertical Source (Tertiary)

Values
Value Meaning 0 None 3 GPS 4 Beacon 6 ExternalNav

EK3_SRC3_YAW: Yaw Source (Tertiary)

Note: This parameter is for advanced users

Yaw Source (Tertiary)

Values
Value Meaning 0 None 1 Compass 2 GPS 3 GPS with Compass Fallback 6 ExternalNav 8 GSF

EK3_SRC_OPTIONS: EKF Source Options

Note: This parameter is for advanced users

EKF Source Options

Bitmask
Bit Meaning 0 FuseAllVelocities

ESC_TLM Parameters

ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset

Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets

Increment	Range
1	0 to 31

FENCE_ Parameters

FENCE_ENABLE: Fence enable/disable

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

Values
Value Meaning 0 Disabled 1 Enabled

FENCE_TYPE: Fence Type

Enabled fence types held as bitmask

Bitmask
Bit Meaning 0 Max altitude 1 Circle 2 Polygon 3 Min altitude

FENCE_ACTION: Fence Action

What action should be taken when fence is breached

Values
Value Meaning 0 Report Only 1 RTL or Land 2 Always Land 3 SmartRTL or RTL or Land 4 Brake or Land 5 SmartRTL or Land

FENCE_ALT_MAX: Fence Maximum Altitude

Maximum altitude allowed before geofence triggers

Increment	Range	Units
1	10 to 1000	meters

FENCE_RADIUS: Circular Fence Radius

Circle fence radius which when breached will cause an RTL

Range	Units
30 to 10000	meters

FENCE_MARGIN: Fence Margin

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

Range	Units
1 to 10	meters

FENCE_TOTAL: Fence polygon point total

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

Range
1 to 20

FENCE_ALT_MIN: Fence Minimum Altitude

Minimum altitude allowed before geofence triggers

Increment	Range	Units
1	-100 to 100	meters

FFT_ Parameters

FFT_ENABLE: Enable

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Gyro FFT analyser

Values
Value Meaning 0 Disabled 1 Enabled

FFT_MINHZ: Minimum Frequency

Note: This parameter is for advanced users

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 to 400	hertz

FFT_MAXHZ: Maximum Frequency

Note: This parameter is for advanced users

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 to 495	hertz

FFT_SAMPLE_MODE: Sample Mode

Note: This parameter is for advanced users

Note: Reboot required after change

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
0 to 4

FFT_WINDOW_SIZE: FFT window size

Note: This parameter is for advanced users

Note: Reboot required after change

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
32 to 1024

FFT_WINDOW_OLAP: FFT window overlap

Note: This parameter is for advanced users

Note: Reboot required after change

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
0 to 0.9

FFT_FREQ_HOVER: FFT learned hover frequency

Note: This parameter is for advanced users

The learned hover noise frequency

Range
0 to 250

FFT_THR_REF: FFT learned thrust reference

Note: This parameter is for advanced users

FFT learned thrust reference for the hover frequency and FFT minimum frequency.

Range
0.01 to 0.9

FFT_SNR_REF: FFT SNR reference threshold

Note: This parameter is for advanced users

FFT SNR reference threshold in dB at which a signal is determined to be present.

Range
0.0 to 100.0

FFT_ATT_REF: FFT attenuation for bandwidth calculation

Note: This parameter is for advanced users

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 to 100

FFT_BW_HOVER: FFT learned bandwidth at hover

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

Range
0 to 200

FFT_HMNC_FIT: FFT harmonic fit frequency threshold

Note: This parameter is for advanced users

Note: Reboot required after change

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
0 to 100

FFT_HMNC_PEAK: FFT harmonic peak target

Note: This parameter is for advanced users

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
Value Meaning 0 Auto 1 Center Frequency 2 Lower-Shoulder Frequency 3 Upper-Shoulder Frequency 4 Roll-Axis 5 Pitch-Axis

FFT_NUM_FRAMES: FFT output frames to retain and average

Note: This parameter is for advanced users

Note: Reboot required after change

Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.

Range
0 to 8

FFT_OPTIONS: FFT options

Note: This parameter is for advanced users

Note: Reboot required after change

FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference

Bitmask
Bit Meaning 0 Enable post-filter FFT 1 Check motor noise

FHLD Parameters

FHLD_XY_P: FlowHold P gain

Note: This parameter is for advanced users

FlowHold (horizontal) P gain.

Increment	Range
0.1	0.1 to 6.0

FHLD_XY_I: FlowHold I gain

Note: This parameter is for advanced users

FlowHold (horizontal) I gain

Increment	Range
0.01	0.02 to 1.00

FHLD_XY_IMAX: FlowHold Integrator Max

Note: This parameter is for advanced users

FlowHold (horizontal) integrator maximum

Increment	Range	Units
10	0 to 4500	centidegrees

FHLD_XY_FILT_HZ: FlowHold filter on input to control

Note: This parameter is for advanced users

FlowHold (horizontal) filter on input to control

Range	Units
0 to 100	hertz

FHLD_FLOW_MAX: FlowHold Flow Rate Max

Controls maximum apparent flow rate in flowhold

Range
0.1 to 2.5

FHLD_FILT_HZ: FlowHold Filter Frequency

Filter frequency for flow data

Range	Units
1 to 100	hertz

FHLD_QUAL_MIN: FlowHold Flow quality minimum

Minimum flow quality to use flow position hold

Range
0 to 255

FHLD_BRAKE_RATE: FlowHold Braking rate

Controls deceleration rate on stick release

Range	Units
1 to 30	degrees per second

FLOW Parameters

FLOW_TYPE: Optical flow sensor type

Note: Reboot required after change

Optical flow sensor type

Values
Value Meaning 0 None 1 PX4Flow 2 Pixart 3 Bebop 4 CXOF 5 MAVLink 6 DroneCAN 7 MSP 8 UPFLOW

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 to +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 to +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 to +18000	centidegrees

FLOW_POS_X: X position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

FLOW_POS_Y: Y position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

FLOW_POS_Z: Z position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

FLOW_ADDR: Address on the bus

Note: This parameter is for advanced users

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

Range
0 to 127

FLOW_HGT_OVR: Height override of sensor above ground

Note: This parameter is for advanced users

This is used in rover vehicles, where the sensor is a fixed height above the ground

Increment	Range	Units
0.01	0 to 2	meters

FOLL Parameters

FOLL_ENABLE: Follow enable/disable

Enabled/disable following a target

Values
Value Meaning 0 Disabled 1 Enabled

FOLL_SYSID: Follow target's mavlink system id

Follow target's mavlink system id

Range
0 to 255

FOLL_DIST_MAX: Follow distance maximum

Follow distance maximum. targets further than this will be ignored

Range	Units
1 to 1000	meters

FOLL_OFS_TYPE: Follow offset type

Follow offset type

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

FOLL_OFS_X: Follow offsets in meters north/forward

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

Increment	Range	Units
1	-100 to 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 to 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 to 100	meters

FOLL_YAW_BEHAVE: Follow yaw behaviour

Follow yaw behaviour

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

FOLL_POS_P: Follow position error P gain

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

Increment	Range
0.01	0.01 to 1.00

FOLL_ALT_TYPE: Follow altitude type

Follow altitude type

Values
Value Meaning 0 absolute 1 relative

FRSKY_ Parameters

FRSKY_UPLINK_ID: Uplink sensor id

Note: This parameter is for advanced users

Change the uplink sensor id (SPort only)

Values
Value Meaning -1 Disable 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26

FRSKY_DNLINK1_ID: First downlink sensor id

Note: This parameter is for advanced users

Change the first extra downlink sensor id (SPort only)

Values
Value Meaning -1 Disable 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26

FRSKY_DNLINK2_ID: Second downlink sensor id

Note: This parameter is for advanced users

Change the second extra downlink sensor id (SPort only)

Values
Value Meaning -1 Disable 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26

FRSKY_DNLINK_ID: Default downlink sensor id

Note: This parameter is for advanced users

Change the default downlink sensor id (SPort only)

Values
Value Meaning -1 Disable 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 21 21 22 22 23 23 24 24 25 25 26 26 27 27

FRSKY_OPTIONS: FRSky Telemetry Options

A bitmask to set some FRSky Telemetry specific options

Bitmask
Bit Meaning 0 EnableAirspeedAndGroundspeed

GEN_ Parameters

GEN_TYPE: Generator type

Note: Reboot required after change

Generator type

Values
Value Meaning 0 Disabled 1 IE 650w 800w Fuel Cell 2 IE 2.4kW Fuel Cell 3 Richenpower

GEN_OPTIONS: Generator Options

Bitmask of options for generators

Bitmask
Bit Meaning 0 Supress Maintenance-Required Warnings

GPS Parameters

GPS_TYPE: 1st GPS type

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type of 1st GPS

Values
Value Meaning 0 None 1 AUTO 2 uBlox 5 NMEA 6 SiRF 7 HIL 8 SwiftNav 9 DroneCAN 10 SBF 11 GSOF 13 ERB 14 MAV 15 NOVA 16 HemisphereNMEA 17 uBlox-MovingBaseline-Base 18 uBlox-MovingBaseline-Rover 19 MSP 20 AllyStar 21 ExternalAHRS 22 DroneCAN-MovingBaseline-Base 23 DroneCAN-MovingBaseline-Rover 24 UnicoreNMEA 25 UnicoreMovingBaselineNMEA

GPS_TYPE2: 2nd GPS type

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type of 2nd GPS

Values
Value Meaning 0 None 1 AUTO 2 uBlox 5 NMEA 6 SiRF 7 HIL 8 SwiftNav 9 DroneCAN 10 SBF 11 GSOF 13 ERB 14 MAV 15 NOVA 16 HemisphereNMEA 17 uBlox-MovingBaseline-Base 18 uBlox-MovingBaseline-Rover 19 MSP 20 AllyStar 21 ExternalAHRS 22 DroneCAN-MovingBaseline-Base 23 DroneCAN-MovingBaseline-Rover 24 UnicoreNMEA 25 UnicoreMovingBaselineNMEA

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

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

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock, 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
Value Meaning 0 Use primary 1 UseBest 2 Blend 4 Use primary if 3D fix or better

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Any 50 FloatRTK 100 IntegerRTK

GPS_SBAS_MODE: SBAS Mode

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled 2 NoChange

GPS_MIN_ELEV: Minimum elevation

Note: This parameter is for advanced users

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

Range	Units
-100 to 90	degrees

GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets

Note: This parameter is for advanced users

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

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

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

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

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

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users

Note: Reboot required after change

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

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

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 GPS 1 SBAS 2 Galileo 3 Beidou 4 IMES 5 QZSS 6 GLONASS

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

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

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 GPS 1 SBAS 2 Galileo 3 Beidou 4 IMES 5 QZSS 6 GLONASS

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disables automatic configuration 1 Enable automatic configuration for Serial GPSes only 2 Enable automatic configuration for DroneCAN as well

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

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

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

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

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

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

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment	Range	Units
0.01	-5 to 5	meters

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users

Note: Reboot required after change

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	Units
0 to 250	milliseconds

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users

Note: Reboot required after change

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	Units
0 to 250	milliseconds

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

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

Bitmask
Bit Meaning 0 Horiz Pos 1 Vert Pos 2 Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

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

Range	Units
5.0 to 30.0	seconds

GPS_DRV_OPTIONS: driver options

Note: This parameter is for advanced users

Additional backend specific options

Bitmask
Bit Meaning 0 Use UART2 for moving baseline on ublox 1 Use base station for GPS yaw on SBF 2 Use baudrate 115200 3 Use dedicated CAN port b/w GPSes for moving baseline 4 Use ellipsoid height instead of AMSL for uBlox driver

GPS_COM_PORT: GPS physical COM port

Note: This parameter is for advanced users

Note: Reboot required after change

The physical COM port on the connected device, currently only applies to SBF GPS

Increment	Range
1	0 to 10

GPS_COM_PORT2: GPS physical COM port

Note: This parameter is for advanced users

Note: Reboot required after change

The physical COM port on the connected device, currently only applies to SBF GPS

Increment	Range
1	0 to 10

GPS_PRIMARY: Primary GPS

Note: This parameter is for advanced users

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

Increment	Values
1	Value Meaning 0 FirstGPS 1 SecondGPS

GPS_CAN_NODEID1: GPS Node ID 1

Note: This parameter is for advanced users

GPS Node id for first-discovered GPS.

ReadOnly
True

GPS_CAN_NODEID2: GPS Node ID 2

Note: This parameter is for advanced users

GPS Node id for second-discovered GPS.

ReadOnly
True

GPS1_CAN_OVRIDE: First DroneCAN GPS NODE ID

Note: This parameter is for advanced users

GPS Node id for first GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

GPS2_CAN_OVRIDE: Second DroneCAN GPS NODE ID

Note: This parameter is for advanced users

GPS Node id for second GPS. If 0 the gps will be automatically selected on a second-come-second-GPS basis.

GPS_MB1_ Parameters

GPS_MB1_TYPE: Moving base type

Note: This parameter is for advanced users

Note: Reboot required after change

Controls the type of moving base used if using moving base.

Values
Value Meaning 0 Relative to alternate GPS instance 1 RelativeToCustomBase

GPS_MB1_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB1_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB1_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB2_ Parameters

GPS_MB2_TYPE: Moving base type

Note: This parameter is for advanced users

Note: Reboot required after change

Controls the type of moving base used if using moving base.

Values
Value Meaning 0 Relative to alternate GPS instance 1 RelativeToCustomBase

GPS_MB2_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB2_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 to 5	meters

GPS_MB2_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 to 5	meters

GRIP_ Parameters

GRIP_ENABLE: Gripper Enable/Disable

Gripper enable/disable

Values
Value Meaning 0 Disabled 1 Enabled

GRIP_TYPE: Gripper Type

Gripper enable/disable

Values
Value Meaning 0 None 1 Servo 2 EPM

GRIP_GRAB: Gripper Grab PWM

Note: This parameter is for advanced users

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

Range	Units
1000 to 2000	PWM in microseconds

GRIP_RELEASE: Gripper Release PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range	Units
1000 to 2000	PWM in microseconds

GRIP_NEUTRAL: Neutral PWM

Note: This parameter is for advanced users

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

Range	Units
1000 to 2000	PWM in microseconds

GRIP_REGRAB: EPM Gripper Regrab interval

Note: This parameter is for advanced users

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

Range	Units
0 to 255	seconds

GRIP_CAN_ID: EPM UAVCAN Hardpoint ID

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

Range
0 to 255

GRIP_AUTOCLOSE: Gripper Autoclose time

Note: This parameter is for advanced users

Time in seconds that gripper close the gripper after opening; 0 to disable

Range	Units
0.25 to 255	seconds

H_ Parameters

H_TAIL_TYPE: Tail Type

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

Values
Value Meaning 0 Servo only 1 Servo with ExtGyro 2 DirectDrive VarPitch 3 DirectDrive FixedPitch CW 4 DirectDrive FixedPitch CCW 5 DDVP with external governor

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 to 1000	PWM in microseconds

H_FLYBAR_MODE: Flybar Mode Selector

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

Values
Value Meaning 0 NoFlybar 1 Flybar

H_TAIL_SPEED: DDVP Tail ESC speed

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

Increment	Range	Units
1	0 to 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 to 1000	PWM in microseconds

H_SW_TYPE (AP_MotorsHeli_Single): Swashplate Type

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

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

H_SW_COL_DIR (AP_MotorsHeli_Single): Collective Direction

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

Values
Value Meaning 0 Normal 1 Reversed

H_SW_LIN_SVO (AP_MotorsHeli_Single): Linearize Swash Servos

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

Values
Value Meaning 0 Disabled 1 Enabled

H_SW_H3_ENABLE (AP_MotorsHeli_Single): H3 Generic Enable

Note: This parameter is for advanced users

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

Values
Value Meaning 0 Disabled 1 Enabled

H_SW_H3_SV1_POS (AP_MotorsHeli_Single): H3 Generic Servo 1 Position

Note: This parameter is for advanced users

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

Range	Units
-180 to 180	degrees

H_SW_H3_SV2_POS (AP_MotorsHeli_Single): H3 Generic Servo 2 Position

Note: This parameter is for advanced users

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

Range	Units
-180 to 180	degrees

H_SW_H3_SV3_POS (AP_MotorsHeli_Single): H3 Generic Servo 3 Position

Note: This parameter is for advanced users

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

Range	Units
-180 to 180	degrees

H_SW_H3_PHANG (AP_MotorsHeli_Single): H3 Generic Phase Angle Comp

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Increment	Range	Units
1	-30 to 30	degrees

H_COL2YAW: 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	-2 to 2

H_DUAL_MODE: Dual Mode

Sets the dual mode of the heli, either as tandem, transverse, or intermeshing/coaxial.

Values
Value Meaning 0 Longitudinal 1 Transverse 2 Intermeshing/Coaxial

H_DCP_SCALER: Differential-Collective-Pitch Scaler

Scaling factor applied to the differential-collective-pitch

Range
0 to 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 to 10

H_YAW_SCALER: Scaler for yaw mixing

Scaler for mixing yaw into roll or pitch.

Increment	Range
0.1	-10 to 10

H_COL2_MIN: Swash 2 Minimum Collective Pitch

Lowest possible servo position in PWM microseconds for swashplate 2

Increment	Range	Units
1	1000 to 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 to 2000	PWM in microseconds

H_SW_TYPE (AP_MotorsHeli_Dual): Swash 1 Type

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

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

H_SW_COL_DIR (AP_MotorsHeli_Dual): Swash 1 Collective Direction

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

Values
Value Meaning 0 Normal 1 Reversed

H_SW_LIN_SVO (AP_MotorsHeli_Dual): Linearize Swash 1 Servos

This linearizes the swashplate 1 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW_H3_ENABLE (AP_MotorsHeli_Dual): Swash 1 H3 Generic Enable

Note: This parameter is for advanced users

Automatically set when H3 generic swash type is selected for swashplate 1. Do not set manually.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW_H3_SV1_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 1 Position

Note: This parameter is for advanced users

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

Range	Units
-180 to 180	degrees

H_SW_H3_SV2_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 2 Position

Note: This parameter is for advanced users

Azimuth position on swashplate 1 for servo 2 with the front of the heli being 0 deg

Range	Units
-180 to 180	degrees

H_SW_H3_SV3_POS (AP_MotorsHeli_Dual): Swash 1 H3 Generic Servo 3 Position

Note: This parameter is for advanced users

Azimuth position on swashplate 1 for servo 3 with the front of the heli being 0 deg

Range	Units
-180 to 180	degrees

H_SW_H3_PHANG (AP_MotorsHeli_Dual): Swash 1 H3 Generic Phase Angle Comp

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Increment	Range	Units
1	-30 to 30	degrees

H_SW2_TYPE: Swash 2 Type

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

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

H_SW2_COL_DIR: Swash 2 Collective Direction

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

Values
Value Meaning 0 Normal 1 Reversed

H_SW2_LIN_SVO: Linearize Swash 2 Servos

This linearizes the swashplate 2 servo's mechanical output to account for nonlinear output due to arm rotation. This requires a specific setup procedure to work properly. The servo arm must be centered on the mechanical throw at the servo trim position and the servo trim position kept as close to 1500 as possible. Leveling the swashplate can only be done through the pitch links. See the ardupilot wiki for more details on setup.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW2_H3_ENABLE: Swash 2 H3 Generic Enable

Note: This parameter is for advanced users

Automatically set when H3 generic swash type is selected for swashplate 2. Do not set manually.

Values
Value Meaning 0 Disabled 1 Enabled

H_SW2_H3_SV1_POS: Swash 2 H3 Generic Servo 1 Position

Note: This parameter is for advanced users

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

Range	Units
-180 to 180	degrees

H_SW2_H3_SV2_POS: Swash 2 H3 Generic Servo 2 Position

Note: This parameter is for advanced users

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

Range	Units
-180 to 180	degrees

H_SW2_H3_SV3_POS: Swash 2 H3 Generic Servo 3 Position

Note: This parameter is for advanced users

Azimuth position on swashplate 2 for servo 3 with the front of the heli being 0 deg

Range	Units
-180 to 180	degrees

H_SW2_H3_PHANG: Swash 2 H3 Generic Phase Angle Comp

Note: This parameter is for advanced users

Only for H3 swashplate. If pitching the swash forward induces a roll, this can be correct the problem

Increment	Range	Units
1	-30 to 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 to 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 to 1000

H_COL_MIN: Minimum Collective Pitch

Lowest possible servo position in PWM microseconds for the swashplate

Increment	Range	Units
1	1000 to 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 to 2000	PWM in microseconds

H_SV_MAN: Manual Servo Mode

Manual servo override for swash set-up. Must be 0 (Disabled) for flight!

Values
Value Meaning 0 Disabled 1 Passthrough 2 Max collective 3 Zero thrust collective 4 Min collective

H_CYC_MAX: Maximum Cyclic Pitch Angle

Maximum cyclic pitch angle of the swash plate. There are no units to this parameter. This should be adjusted to get the desired cyclic blade pitch for the pitch and roll axes. Typically this should be 6-7 deg (measured blade pitch angle difference between stick centered and stick max deflection.

Increment	Range
100	0 to 4500

H_SV_TEST: Boot-up Servo Test Cycles

Number of cycles to run servo test on boot-up

Increment	Range
1	0 to 10

H_COL_HOVER: Collective Hover Value

Note: This parameter is for advanced users

Collective needed to hover expressed as a number from 0 to 1 where 0 is H_COL_MIN and 1 is H_COL_MAX

Range
0.3 to 0.8

H_HOVER_LEARN: Hover Value Learning

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover collective

Values
Value Meaning 0 Disabled 1 Learn 2 Learn and Save

H_OPTIONS: Heli_Options

Bitmask of heli options. Bit 0 changes how the pitch, roll, and yaw axis integrator term is managed for low speed and takeoff/landing. In AC 4.0 and earlier, scheme uses a leaky integrator for ground speeds less than 5 m/s and won't let the steady state integrator build above ILMI. The integrator is allowed to build to the ILMI value when it is landed. The other integrator management scheme bases integrator limiting on takeoff and landing. Whenever the aircraft is landed the integrator is set to zero. When the aicraft is airborne, the integrator is only limited by IMAX.

Bitmask
Bit Meaning 0 Use Leaky I

H_COL_ANG_MIN: Collective Blade Pitch Angle Minimum

Minimum collective blade pitch angle in deg that corresponds to the PWM set for minimum collective pitch (H_COL_MIN).

Increment	Range	Units
0.1	-20 to 0	degrees

H_COL_ANG_MAX: Collective Blade Pitch Angle Maximum

Maximum collective blade pitch angle in deg that corresponds to the PWM set for maximum collective pitch (H_COL_MAX).

Increment	Range	Units
0.1	5 to 20	degrees

H_COL_ZERO_THRST: Collective Blade Pitch at Zero Thrust

Collective blade pitch angle at zero thrust in degrees. For symetric airfoil blades this value is zero deg. For chambered airfoil blades this value is typically negative.

Increment	Range	Units
0.1	-5 to 0	degrees

H_COL_LAND_MIN: Collective Blade Pitch Minimum when Landed

Minimum collective blade pitch angle when landed in degrees for non-manual collective modes (i.e. modes that use altitude hold).

Increment	Range	Units
0.1	-5 to 0	degrees

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 to 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. AutoThrottle requires a rotor speed sensor, contains an advanced autothrottle governor and is primarily for piston and turbine engines. WARNING: Throttle ramp time and throttle curve MUST be tuned properly using Throttle Curve mode before using AutoThrottle

Values
Value Meaning 1 RC Passthrough 2 External Gov SetPoint 3 Throttle Curve 4 AutoThrottle

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 to 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. WARNING: For AutoThrottle users with piston and turbine engines it is VERY important to know how long it takes to warm up your engine and reach full rotor speed when throttle switch is turned ON. This timer should be set for at least the amount of time it takes to get your helicopter to full flight power, ready for takeoff. Failure to heed this warning could result in the auto-takeoff mode attempting to lift up into hover before the engine has reached full power, and subsequent loss of control

Range	Units
0 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 200	Revolutions Per Minute

H_RSC_CLDWN_TIME: Cooldown Time

Will provide a fast idle for engine cooldown by raising the Ground Idle speed setting by 50% for the number of seconds the timer is set for. A setting of zero disables the fast idle. This feature will only apply after the runup complete has been declared. This will not extend the time before ground idle is declared, which triggers engine shutdown for autonomous landings.

Increment	Range	Units
1	0 to 120	seconds

H_RSC_GOV_COMP: Governor Torque Compensator

Adjusts the autothrottle governor torque compensator that determines how fast the governor will adjust the base torque reference to compensate for changes in density altitude. If RPM is low or high by more than 2-5 RPM, increase this setting by 1% at a time until the governor speed matches your RPM setting. Setting the compensator too high can result in surging and throttle "hunting". Do not make large adjustments at one time

Increment	Range	Units
0.1	0 to 70	percent

H_RSC_GOV_DROOP: Governor Droop Compensator

AutoThrottle governor droop response under load, normal settings of 0-50%. Higher value is quicker response to large speed changes due to load but may cause surging. Adjust this to be as aggressive as possible without getting surging or RPM over-run when the governor responds to large load changes on the rotor system

Increment	Range	Units
0.1	0 to 100	percent

H_RSC_GOV_FF: Governor Feedforward

Feedforward governor gain to throttle response during sudden loading/unloading of the rotor system. If RPM drops excessively during full collective climb with the droop response set correctly, increase the governor feedforward.

Increment	Range	Units
0.1	0 to 100	percent

H_RSC_GOV_RPM: Rotor RPM Setting

Main rotor RPM that governor maintains when engaged

Increment	Range	Units
10	800 to 3500	Revolutions Per Minute

H_RSC_GOV_TORQUE: Governor Torque Limiter

Adjusts the engine's percentage of torque rise on autothrottle during ramp-up to governor speed. The torque rise will determine how fast the rotor speed will ramp up when rotor speed reaches 50% of the rotor RPM setting. The sequence of events engaging the governor is as follows: Throttle ramp time will engage the clutch and start the main rotor turning. The collective should be at flat pitch and the throttle curve set to provide at least 50% of normal RPM at flat pitch. The autothrottle torque limiter will automatically activate and start accelerating the main rotor. If the autothrottle consistently fails to accelerate the main rotor during ramp-in due to engine tune or other factors, then increase the torque limiter setting. NOTE: throttle ramp time and throttle curve should be tuned using RSC_MODE Throttle Curve before using RSC_MODE AutoThrottle

Increment	Range	Units
1	10 to 60	percent

H_RSC_AROT_ENG_T: Time for in-flight power re-engagement

amount of seconds to move throttle output from idle to throttle curve position during manual autorotations

Increment	Range	Units
0.5	0 to 10	percent

H_RSC_AROT_MN_EN: Enable Manual Autorotations

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

Values
Value Meaning 0 Disabled 1 Enabled

H_RSC_AROT_IDLE: Idle Throttle Percentage during Autorotation

Idle throttle used for all RSC modes. For external governors, this would be set to signal it 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 to 40	percent

IM_ Parameters

IM_ACRO_COL_EXP: Acro Mode Collective Expo

Note: This parameter is for advanced users

Used to soften collective pitch inputs near center point in Acro mode.

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

IM_STB_COL_1: Stabilize Collective Low

Helicopter's minimum collective pitch setting at zero collective stick input in Stabilize mode. Set this as a percent of collective range given by H_COL_MAX minus H_COL_MIN.

Increment	Range	Units
1	0 to 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 to 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 to 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 to 100	percent

INS Parameters

INS_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis

Note: This parameter is for advanced users

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis

Note: This parameter is for advanced users

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS_GYRO_FILTER: Gyro filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Range	Units
0 to 256	hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Range	Units
0 to 256	hertz

INS_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS_USE2: Use second IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS_USE3: Use third IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving

Note: This parameter is for advanced users

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

Range
0.05 to 50

INS_GYR_CAL: Gyro Calibration scheme

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values
Value Meaning 0 Never 1 Start-up only

INS_TRIM_OPTION: Accel cal trim option

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

Values
Value Meaning 0 Don’t adjust the trims 1 Assume first orientation was level 2 Assume ACC_BODYFIX is perfectly aligned to the vehicle

INS_ACC_BODYFIX: Body-fixed accelerometer

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

Values
Value Meaning 1 IMU 1 2 IMU 2 3 IMU 3

INS_POS1_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS1_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS1_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS2_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS2_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS2_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS3_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range	Units
-10 to 10	meters

INS_POS3_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS_POS3_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS_GYR_ID: Gyro ID

Note: This parameter is for advanced users

Gyro sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_GYR2_ID: Gyro2 ID

Note: This parameter is for advanced users

Gyro2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_GYR3_ID: Gyro3 ID

Note: This parameter is for advanced users

Gyro3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

Accelerometer sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC2_ID: Accelerometer2 ID

Note: This parameter is for advanced users

Accelerometer2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_ACC3_ID: Accelerometer3 ID

Note: This parameter is for advanced users

Accelerometer3 sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS_FAST_SAMPLE: Fast sampling mask

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

Bitmask
Bit Meaning 0 FirstIMU 1 SecondIMU 2 ThirdIMU

INS_ENABLE_MASK: IMU enable mask

Note: This parameter is for advanced users

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

Bitmask
Bit Meaning 0 FirstIMU 1 SecondIMU 2 ThirdIMU 3 FourthIMU 4 FifthIMU 5 SixthIMU 6 SeventhIMU

INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled

Note: This parameter is for advanced users

Note: Reboot required after change

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.

Values
Value Meaning 0 1kHz 1 2kHz 2 4kHz 3 8kHz

INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer

Note: This parameter is for advanced users

Temperature that the 1st accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope

Note: This parameter is for advanced users

Temperature that the 1st gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer

Note: This parameter is for advanced users

Temperature that the 2nd accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope

Note: This parameter is for advanced users

Temperature that the 2nd gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer

Note: This parameter is for advanced users

Temperature that the 3rd accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope

Note: This parameter is for advanced users

Temperature that the 3rd gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS_TCAL_OPTIONS: Options for temperature calibration

Note: This parameter is for advanced users

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
Bit Meaning 0 PersistParams

INS4_ Parameters

INS4_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS4_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

Accelerometer sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS4_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS4_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS4_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS4_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS4_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS4_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS4_POS_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS4_POS_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS4_POS_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS4_ACC_CALTEMP: Calibration temperature for accelerometer

Note: This parameter is for advanced users

Temperature that the accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS4_GYR_ID: Gyro ID

Note: This parameter is for advanced users

Gyro sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS4_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS4_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS4_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS4_GYR_CALTEMP: Calibration temperature for gyroscope

Note: This parameter is for advanced users

Temperature that the gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS4_TCAL_ Parameters

INS4_TCAL_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS4_TCAL_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS4_TCAL_TMAX: Temperature calibration max

Note: This parameter is for advanced users

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 to 80	degrees Celsius

INS4_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS4_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_ Parameters

INS5_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values
Value Meaning 0 Disabled 1 Enabled

INS5_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

Accelerometer sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS5_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS5_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS5_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration	Range
1	0.8 to 1.2

INS5_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS5_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS5_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Calibration	Range	Units
1	-3.5 to 3.5	meters per square second

INS5_POS_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS5_POS_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS5_POS_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment	Range	Units
0.01	-5 to 5	meters

INS5_ACC_CALTEMP: Calibration temperature for accelerometer

Note: This parameter is for advanced users

Temperature that the accelerometer was calibrated at

Calibration	Units
1	degrees Celsius

INS5_GYR_ID: Gyro ID

Note: This parameter is for advanced users

Gyro sensor ID, taking into account its type, bus and instance

ReadOnly
True

INS5_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS5_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS5_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration	Units
1	radians per second

INS5_GYR_CALTEMP: Calibration temperature for gyroscope

Note: This parameter is for advanced users

Temperature that the gyroscope was calibrated at

Calibration	Units
1	degrees Celsius

INS5_TCAL_ Parameters

INS5_TCAL_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS5_TCAL_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS5_TCAL_TMAX: Temperature calibration max

Note: This parameter is for advanced users

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 to 80	degrees Celsius

INS5_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS5_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_HNTC2_ Parameters

INS_HNTC2_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTC2_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 495	hertz

INS_HNTC2_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Range	Units
5 to 250	hertz

INS_HNTC2_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Range	Units
5 to 50	decibel

INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users

Note: Reboot required after change

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

Bitmask
Bit Meaning 0 1st harmonic 1 2nd harmonic 2 3rd harmonic 3 4th hamronic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic

INS_HNTC2_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users

Note: Reboot required after change

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
0.0 to 1.0

INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.

Range	Values
0 to 4	Value Meaning 0 Disabled 1 Throttle 2 RPM Sensor 3 ESC Telemetry 4 Dynamic FFT 5 Second RPM Sensor

INS_HNTC2_OPTS: Harmonic Notch Filter options

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency 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. If both double and triple notches are specified only double notches will take effect.

Bitmask
Bit Meaning 0 Double notch 1 Dynamic harmonic 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch

INS_HNTC2_FM_RAT: Throttle notch min freqency ratio

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_HNTCH_ Parameters

INS_HNTCH_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTCH_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This is the center frequency for static notches, the center frequency for Throttle based notches at the reference thrust value, and the minimum limit of center frequency variation for all other notch types. This should always be set lower than half the backend gyro rate (which is typically 1Khz).

Range	Units
10 to 495	hertz

INS_HNTCH_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Range	Units
5 to 250	hertz

INS_HNTCH_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Range	Units
5 to 50	decibel

INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users

Note: Reboot required after change

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

Bitmask
Bit Meaning 0 1st harmonic 1 2nd harmonic 2 3rd harmonic 3 4th hamronic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic

INS_HNTCH_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users

Note: Reboot required after change

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
0.0 to 1.0

INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.

Range	Values
0 to 4	Value Meaning 0 Disabled 1 Throttle 2 RPM Sensor 3 ESC Telemetry 4 Dynamic FFT 5 Second RPM Sensor

INS_HNTCH_OPTS: Harmonic Notch Filter options

Note: This parameter is for advanced users

Note: Reboot required after change

Harmonic Notch Filter options. Triple and double-notches can provide deeper attenuation across a wider bandwidth with reduced latency 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. If both double and triple notches are specified only double notches will take effect.

Bitmask
Bit Meaning 0 Double notch 1 Dynamic harmonic 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch

INS_HNTCH_FM_RAT: Throttle notch min freqency ratio

Note: This parameter is for advanced users

The minimum ratio below the configured frequency to take throttle based notch filters when flying at a throttle level below the reference throttle. Note that lower frequency notch filters will have more phase lag. If you want throttle based notch filtering to be effective at a throttle up to 30% below the configured notch frequency then set this parameter to 0.7. The default of 1.0 means the notch will not go below the frequency in the FREQ parameter.

Range
0.1 to 1.0

INS_LOG_ Parameters

INS_LOG_BAT_CNT: sample count per batch

Note: This parameter is for advanced users

Note: Reboot required after change

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
32

INS_LOG_BAT_MASK: Sensor Bitmask

Note: This parameter is for advanced users

Note: Reboot required after change

Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.

Bitmask
Bit Meaning 0 IMU1 1 IMU2 2 IMU3

INS_LOG_BAT_OPT: Batch Logging Options Mask

Note: This parameter is for advanced users

Options for the BatchSampler.

Bitmask
Bit Meaning 0 Sensor-Rate Logging (sample at full sensor rate seen by AP) 1 Sample post-filtering 2 Sample pre- and post-filter

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_TCAL1_ Parameters

INS_TCAL1_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS_TCAL1_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL1_TMAX: Temperature calibration max

Note: This parameter is for advanced users

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 to 80	degrees Celsius

INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ Parameters

INS_TCAL2_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS_TCAL2_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL2_TMAX: Temperature calibration max

Note: This parameter is for advanced users

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 to 80	degrees Celsius

INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ Parameters

INS_TCAL3_ENABLE: Enable temperature calibration

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values
Value Meaning 0 Disabled 1 Enabled 2 LearnCalibration

INS_TCAL3_TMIN: Temperature calibration min

Note: This parameter is for advanced users

The minimum temperature that the calibration is valid for

Calibration	Range	Units
1	-70 to 80	degrees Celsius

INS_TCAL3_TMAX: Temperature calibration max

Note: This parameter is for advanced users

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 to 80	degrees Celsius

INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 1st order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 2nd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis

Note: This parameter is for advanced users

This is the 3rd order temperature coefficient from a temperature calibration

Calibration
1

LGR_ Parameters

LGR_ENABLE: Enable landing gear

Enable landing gear control

Values
Value Meaning 0 Disabled 1 Enabled

LGR_STARTUP: Landing Gear Startup position

Landing Gear Startup behaviour control

Values
Value Meaning 0 WaitForPilotInput 1 Retract 2 Deploy

LGR_DEPLOY_PIN: Chassis deployment feedback pin

Note: Reboot required after change

Pin number to use for detection of gear deployment. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

LGR_DEPLOY_POL: Chassis deployment feedback pin polarity

Polarity for feedback pin. If this is 1 then the pin should be high when gear are deployed. If set to 0 then then deployed gear level is low.

Values
Value Meaning 0 Low 1 High

LGR_WOW_PIN: Weight on wheels feedback pin

Note: Reboot required after change

Pin number to use for feedback of weight on wheels condition. If set to -1 feedback is disabled. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

LGR_WOW_POL: Weight on wheels feedback pin polarity

Polarity for feedback pin. If this is 1 then the pin should be high when there is weight on wheels. If set to 0 then then weight on wheels level is low.

Values
Value Meaning 0 Low 1 High

LGR_DEPLOY_ALT: Landing gear deployment altitude

Altitude where the landing gear will be deployed. This should be lower than the RETRACT_ALT. If zero then altitude is not used for deploying landing gear. Only applies when vehicle is armed.

Increment	Range	Units
1	0 to 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 to 1000	meters

LGR_OPTIONS: Landing gear auto retract/deploy options

Options to retract or deploy landing gear in Auto or Guided mode

Bitmask
Bit Meaning 0 Retract after Takeoff 1 Deploy during Land

LOG Parameters

LOG_BACKEND_TYPE: AP_Logger Backend Storage type

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

Bitmask
Bit Meaning 0 File 1 MAVLink 2 Block

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 at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.

Values
Value Meaning 0 Disabled 1 Enabled 2 Disabled on USB connection 3 Discard log on reboot if never armed

LOG_REPLAY: Enable logging of information needed for Replay

If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.

Values
Value Meaning 0 Disabled 1 Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.

Values
Value Meaning 0 Disabled 1 Enabled

LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size

Note: This parameter is for advanced users

Maximum amount of memory to allocate to AP_Logger-over-mavlink

Units
kilobytes

LOG_FILE_TIMEOUT: Timeout before giving up on file writes

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

Units
seconds

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 to 1000	megabyte

LOG_FILE_RATEMAX: Maximum logging rate for file backend

This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_MAV_RATEMAX: Maximum logging rate for mavlink backend

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_BLK_RATEMAX: Maximum logging rate for block backend

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

Increment	Range	Units
0.1	0 to 1000	hertz

LOG_DARM_RATEMAX: Maximum logging rate when disarmed

This sets the maximum rate that streaming log messages will be logged to any backend when disarmed. A value of zero means that the normal backend rate limit is applied.

Increment	Range	Units
0.1	0 to 1000	hertz

LOIT_ Parameters

LOIT_ANG_MAX: Loiter pilot angle max

Note: This parameter is for advanced users

Loiter maximum pilot requested lean angle. Set to zero for 2/3 of PSC_ANGLE_MAX/ANGLE_MAX. The maximum vehicle lean angle is still limited by PSC_ANGLE_MAX/ANGLE_MAX

Increment	Range	Units
1	0 to 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 to 3500	centimeters per second

LOIT_ACC_MAX: Loiter maximum correction acceleration

Note: This parameter is for advanced users

Loiter maximum correction acceleration in cm/s/s. Higher values cause the copter to correct position errors more aggressively.

Increment	Range	Units
1	100 to 981	centimeters per square second

LOIT_BRK_ACCEL: Loiter braking acceleration

Note: This parameter is for advanced users

Loiter braking acceleration in cm/s/s. Higher values stop the copter more quickly when the stick is centered.

Increment	Range	Units
1	25 to 250	centimeters per square second

LOIT_BRK_JERK: Loiter braking jerk

Note: This parameter is for advanced users

Loiter braking jerk in cm/s/s/s. Higher values will remove braking faster if the pilot moves the sticks during a braking maneuver.

Increment	Range	Units
1	500 to 5000	centimeters per cubic second

LOIT_BRK_DELAY: Loiter brake start delay (in seconds)

Note: This parameter is for advanced users

Loiter brake start delay (in seconds)

Increment	Range	Units
0.1	0 to 2	seconds

MIS_ Parameters

MIS_TOTAL: Total mission commands

Note: This parameter is for advanced users

The number of mission mission items that has been loaded by the ground station. Do not change this manually.

Increment	Range	ReadOnly
1	0 to 32766	True

MIS_RESTART: Mission Restart when entering Auto mode

Note: This parameter is for advanced users

Controls mission starting point when entering Auto mode (either restart from beginning of mission or resume from last command run)

Values
Value Meaning 0 Resume Mission 1 Restart Mission

MIS_OPTIONS: Mission options bitmask

Note: This parameter is for advanced users

Bitmask of what options to use in missions.

Bitmask
Bit Meaning 0 Clear Mission on reboot 2 ContinueAfterLand

MNT1 Parameters

MNT1_TYPE: Mount Type

Note: Reboot required after change

Mount Type

Values
Value Meaning 0 None 1 Servo 2 3DR Solo 3 Alexmos Serial 4 SToRM32 MAVLink 5 SToRM32 Serial 6 Gremsy 7 BrushlessPWM 8 Siyi 9 Scripting

MNT1_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

Values
Value Meaning 0 Retracted 1 Neutral 2 MavLink Targeting 3 RC Targeting 4 GPS Point 6 Home Location

MNT1_RC_RATE: Mount RC Rate

Pilot rate control's maximum rate. Set to zero to use angle control

Increment	Range	Units
1	0 to 90	degrees per second

MNT1_ROLL_MIN: Mount Roll angle minimum

Mount Roll angle minimum

Increment	Range	Units
1	-180 to 180	degrees

MNT1_ROLL_MAX: Mount Roll angle maximum

Mount Roll angle maximum

Increment	Range	Units
1	-180 to 180	degrees

MNT1_PITCH_MIN: Mount Pitch angle minimum

Mount Pitch angle minimum

Increment	Range	Units
1	-90 to 90	degrees

MNT1_PITCH_MAX: Mount Pitch angle maximum

Mount Pitch angle maximum

Increment	Range	Units
1	-90 to 90	degrees

MNT1_YAW_MIN: Mount Yaw angle minimum

Mount Yaw angle minimum

Increment	Range	Units
1	-180 to 180	degrees

MNT1_YAW_MAX: Mount Yaw angle maximum

Mount Yaw angle maximum

Increment	Range	Units
1	-180 to 180	degrees

MNT1_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_RETRACT_Y: Mount pitch angle when in retracted position

Mount pitch angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_RETRACT_Z: Mount yaw angle when in retracted position

Mount yaw angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_NEUTRAL_Y: Mount pitch angle when in neutral position

Mount pitch angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_NEUTRAL_Z: Mount yaw angle when in neutral position

Mount yaw angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT1_LEAD_RLL: Mount Roll stabilization lead time

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

Increment	Range	Units
.005	0.0 to 0.2	seconds

MNT1_LEAD_PTCH: Mount Pitch stabilization lead time

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

Increment	Range	Units
.005	0.0 to 0.2	seconds

MNT2 Parameters

MNT2_TYPE: Mount Type

Note: Reboot required after change

Mount Type

Values
Value Meaning 0 None 1 Servo 2 3DR Solo 3 Alexmos Serial 4 SToRM32 MAVLink 5 SToRM32 Serial 6 Gremsy 7 BrushlessPWM 8 Siyi 9 Scripting

MNT2_DEFLT_MODE: Mount default operating mode

Mount default operating mode on startup and after control is returned from autopilot

Values
Value Meaning 0 Retracted 1 Neutral 2 MavLink Targeting 3 RC Targeting 4 GPS Point 6 Home Location

MNT2_RC_RATE: Mount RC Rate

Pilot rate control's maximum rate. Set to zero to use angle control

Increment	Range	Units
1	0 to 90	degrees per second

MNT2_ROLL_MIN: Mount Roll angle minimum

Mount Roll angle minimum

Increment	Range	Units
1	-180 to 180	degrees

MNT2_ROLL_MAX: Mount Roll angle maximum

Mount Roll angle maximum

Increment	Range	Units
1	-180 to 180	degrees

MNT2_PITCH_MIN: Mount Pitch angle minimum

Mount Pitch angle minimum

Increment	Range	Units
1	-90 to 90	degrees

MNT2_PITCH_MAX: Mount Pitch angle maximum

Mount Pitch angle maximum

Increment	Range	Units
1	-90 to 90	degrees

MNT2_YAW_MIN: Mount Yaw angle minimum

Mount Yaw angle minimum

Increment	Range	Units
1	-180 to 180	degrees

MNT2_YAW_MAX: Mount Yaw angle maximum

Mount Yaw angle maximum

Increment	Range	Units
1	-180 to 180	degrees

MNT2_RETRACT_X: Mount roll angle when in retracted position

Mount roll angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_RETRACT_Y: Mount pitch angle when in retracted position

Mount pitch angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_RETRACT_Z: Mount yaw angle when in retracted position

Mount yaw angle when in retracted position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_NEUTRAL_X: Mount roll angle when in neutral position

Mount roll angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_NEUTRAL_Y: Mount pitch angle when in neutral position

Mount pitch angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_NEUTRAL_Z: Mount yaw angle when in neutral position

Mount yaw angle when in neutral position

Increment	Range	Units
1	-180.0 to 180.0	degrees

MNT2_LEAD_RLL: Mount Roll stabilization lead time

Servo mount roll angle output leads the vehicle angle by this amount of time based on current roll rate. Increase until the servo is responsive but does not overshoot

Increment	Range	Units
.005	0.0 to 0.2	seconds

MNT2_LEAD_PTCH: Mount Pitch stabilization lead time

Servo mount pitch angle output leads the vehicle angle by this amount of time based on current pitch rate. Increase until the servo is responsive but does not overshoot

Increment	Range	Units
.005	0.0 to 0.2	seconds

MOT_ Parameters

MOT_YAW_HEADROOM: Matrix Yaw Min

Note: This parameter is for advanced users

Yaw control is given at least this pwm in microseconds range

Range	Units
0 to 500	PWM in microseconds

MOT_THST_EXPO: Thrust Curve Expo

Note: This parameter is for advanced users

Motor thrust curve exponent (0.0 for linear to 1.0 for second order curve)

Range
-1.0 to 1.0

MOT_SPIN_MAX: Motor Spin maximum

Note: This parameter is for advanced users

Point at which the thrust saturates expressed as a number from 0 to 1 in the entire output range

Values
Value Meaning 0.9 Low 0.95 Default 1.0 High

MOT_BAT_VOLT_MAX: Battery voltage compensation maximum voltage

Note: This parameter is for advanced users

Battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled

Range	Units
6 to 53	volt

MOT_BAT_VOLT_MIN: Battery voltage compensation minimum voltage

Note: This parameter is for advanced users

Battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.3 * cell count, 0 = Disabled

Range	Units
6 to 42	volt

MOT_BAT_CURR_MAX: Motor Current Max

Note: This parameter is for advanced users

Maximum current over which maximum throttle is limited (0 = Disabled)

Range	Units
0 to 200	ampere

MOT_PWM_TYPE: Output PWM type

Note: This parameter is for advanced users

Note: Reboot required after change

This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output

Values
Value Meaning 0 Normal 1 OneShot 2 OneShot125 3 Brushed 4 DShot150 5 DShot300 6 DShot600 7 DShot1200 8 PWMRange

MOT_PWM_MIN: PWM output minimum

Note: This parameter is for advanced users

This sets the min PWM output value in microseconds that will ever be output to the motors

Range	Units
0 to 2000	PWM in microseconds

MOT_PWM_MAX: PWM output maximum

Note: This parameter is for advanced users

This sets the max PWM value in microseconds that will ever be output to the motors

Range	Units
0 to 2000	PWM in microseconds

MOT_SPIN_MIN: Motor Spin minimum

Note: This parameter is for advanced users

Point at which the thrust starts expressed as a number from 0 to 1 in the entire output range. Should be higher than MOT_SPIN_ARM.

Values
Value Meaning 0.0 Low 0.15 Default 0.25 High

MOT_SPIN_ARM: Motor Spin armed

Note: This parameter is for advanced users

Point at which the motors start to spin expressed as a number from 0 to 1 in the entire output range. Should be lower than MOT_SPIN_MIN.

Values
Value Meaning 0.0 Low 0.1 Default 0.2 High

MOT_BAT_CURR_TC: Motor Current Max Time Constant

Note: This parameter is for advanced users

Time constant used to limit the maximum current

Range	Units
0 to 10	seconds

MOT_THST_HOVER: Thrust Hover Value

Note: This parameter is for advanced users

Motor thrust needed to hover expressed as a number from 0 to 1

Range
0.2 to 0.8

MOT_HOVER_LEARN: Hover Value Learning

Note: This parameter is for advanced users

Enable/Disable automatic learning of hover throttle

Values
Value Meaning 0 Disabled 1 Learn 2 Learn and Save

MOT_SAFE_DISARM: Motor PWM output disabled when disarmed

Note: This parameter is for advanced users

Disables motor PWM output when disarmed

Values
Value Meaning 0 PWM enabled while disarmed 1 PWM disabled while disarmed

MOT_YAW_SV_ANGLE: Yaw Servo Max Lean Angle

Yaw servo's maximum lean angle (Tricopter only)

Increment	Range	Units
1	5 to 80	degrees

MOT_SPOOL_TIME: Spool up time

Note: This parameter is for advanced users

Time in seconds to spool up the motors from zero to min throttle.

Increment	Range	Units
0.1	0 to 2	seconds

MOT_BOOST_SCALE: Motor boost scale

Note: This parameter is for advanced users

Booster motor output scaling factor vs main throttle. The output to the BoostThrottle servo will be the main throttle times this scaling factor. A higher scaling factor will put more of the load on the booster motor. A value of 1 will set the BoostThrottle equal to the main throttle.

Increment	Range
0.1	0 to 5

MOT_BAT_IDX: Battery compensation index

Note: This parameter is for advanced users

Which battery monitor should be used for doing compensation

Values
Value Meaning 0 First battery 1 Second battery

MOT_SLEW_UP_TIME: Output slew time for increasing throttle

Note: This parameter is for advanced users

Time in seconds to slew output from zero to full. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Increment	Range	Units
0.001	0 to .5	seconds

MOT_SLEW_DN_TIME: Output slew time for decreasing throttle

Note: This parameter is for advanced users

Time in seconds to slew output from full to zero. This is used to limit the rate at which output can change. Range is constrained between 0 and 0.5.

Increment	Range	Units
0.001	0 to .5	seconds

MOT_SAFE_TIME: Time taken to disable and enable the motor PWM output when disarmed and armed.

Note: This parameter is for advanced users

Time taken to disable and enable the motor PWM output when disarmed and armed.

Increment	Range	Units
0.001	0 to 5	seconds

MSP Parameters

MSP_OSD_NCELLS: Cell count override

Used for average cell voltage calculation

Values
Value Meaning 0 Auto 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 10 10 11 11 12 12 13 13 14 14

MSP_OPTIONS: MSP OSD Options

A bitmask to set some MSP specific options

Bitmask
Bit Meaning 0 EnableTelemetryMode 1 DisableDJIWorkarounds 2 EnableBTFLFonts

NMEA_ Parameters

NMEA_RATE_MS: NMEA Output rate

NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.

Increment	Range	Units
1	20 to 2000	milliseconds

NMEA_MSG_EN: Messages Enable bitmask

This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval

Bitmask
Bit Meaning 0 GPGGA 1 GPRMC 2 PASHR

NTF_ Parameters

NTF_LED_BRIGHT: LED Brightness

Note: This parameter is for advanced users

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

Values
Value Meaning 0 Off 1 Low 2 Medium 3 High

NTF_BUZZ_TYPES: Buzzer Driver Types

Note: This parameter is for advanced users

Controls what types of Buzzer will be enabled

Bitmask
Bit Meaning 0 Built-in buzzer 1 DShot 2 DroneCAN

NTF_LED_OVERRIDE: Specifies colour source for the RGBLed

Note: This parameter is for advanced users

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

Values
Value Meaning 0 Standard 1 MAVLink/Scripting/AP_Periph 2 OutbackChallenge 3 TrafficLight

NTF_DISPLAY_TYPE: Type of on-board I2C display

Note: This parameter is for advanced users

This sets up the type of on-board I2C display. Disabled by default.

Values
Value Meaning 0 Disable 1 ssd1306 2 sh1106 10 SITL

NTF_OREO_THEME: OreoLED Theme

Note: This parameter is for advanced users

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

Values
Value Meaning 0 Disabled 1 Aircraft 2 Rover

NTF_BUZZ_PIN: Buzzer pin

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Disabled

NTF_LED_TYPES: LED Driver Types

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Bitmask
Bit Meaning 0 Built-in LED 1 Internal ToshibaLED 2 External ToshibaLED 3 External PCA9685 4 Oreo LED 5 DroneCAN 6 NCP5623 External 7 NCP5623 Internal 8 NeoPixel 9 ProfiLED 10 Scripting 11 DShot 12 ProfiLED_SPI 13 LP5562 External 14 LP5562 Internal

NTF_BUZZ_ON_LVL: Buzzer-on pin logic level

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Values
Value Meaning 0 LowIsOn 1 HighIsOn

NTF_BUZZ_VOLUME: Buzzer volume

Control the volume of the buzzer

Range	Units
0 to 100	percent

NTF_LED_LEN: Serial LED String Length

Note: This parameter is for advanced users

Note: Reboot required after change

The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)

Range
1 to 32

OA_ Parameters

OA_TYPE: Object Avoidance Path Planning algorithm to use

Enabled/disable path planning around obstacles

Values
Value Meaning 0 Disabled 1 BendyRuler 2 Dijkstra 3 Dijkstra with BendyRuler

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 to 100	meters

OA_OPTIONS: Options while recovering from Object Avoidance

Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).

Bitmask
Bit Meaning 1 log Dijkstra points

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 to 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 to 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 to 180

OA_BR_TYPE: Type of BendyRuler

BendyRuler will search for clear path along the direction defined by this parameter

Values
Value Meaning 1 Horizontal search 2 Vertical search

OA_DB_ Parameters

OA_DB_SIZE: OADatabase maximum number of points

Note: This parameter is for advanced users

Note: Reboot required after change

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
0 to 10000

OA_DB_EXPIRE: OADatabase item timeout

Note: This parameter is for advanced users

OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.

Increment	Range	Units
1	0 to 127	seconds

OA_DB_QUEUE_SIZE: OADatabase queue maximum number of points

Note: This parameter is for advanced users

Note: Reboot required after change

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
1 to 200

OA_DB_OUTPUT: OADatabase output level

Note: This parameter is for advanced users

OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.

Values
Value Meaning 0 Disabled 1 Send only HIGH importance items 2 Send HIGH and NORMAL importance items 3 Send all items

OA_DB_BEAM_WIDTH: OADatabase beam width

Note: This parameter is for advanced users

Note: Reboot required after change

Beam width of incoming lidar data

Range	Units
1 to 10	degrees

OA_DB_RADIUS_MIN: OADatabase Minimum radius

Note: This parameter is for advanced users

Minimum radius of objects held in database

Range	Units
0 to 10	meters

OA_DB_DIST_MAX: OADatabase Distance Maximum

Note: This parameter is for advanced users

Maximum distance of objects held in database. Set to zero to disable the limits

Range	Units
0 to 10	meters

OA_DB_ALT_MIN: OADatabase minimum altitude above home before storing obstacles

Note: This parameter is for advanced users

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 to 4	meters

OSD Parameters

OSD_TYPE: OSD type

Note: Reboot required after change

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.

Values
Value Meaning 0 None 1 MAX7456 2 SITL 3 MSP 4 TXONLY 5 MSP_DISPLAYPORT

OSD_CHAN: Screen switch transmitter channel

This sets the channel used to switch different OSD screens.

Values
Value Meaning 0 Disable 5 Chan5 6 Chan6 7 Chan7 8 Chan8 9 Chan9 10 Chan10 11 Chan11 12 Chan12 13 Chan13 14 Chan14 15 Chan15 16 Chan16

OSD_SW_METHOD: Screen switch method

This sets the method used to switch different OSD screens.

Values
Value Meaning 0 switch to next screen if channel value was changed 1 select screen based on pwm ranges specified for each screen 2 switch to next screen after low to high transition and every 1s while channel value is high

OSD_OPTIONS: OSD Options

This sets options that change the display

Bitmask
Bit Meaning 0 UseDecimalPack 1 InvertedWindPointer 2 InvertedAHRoll 3 Convert feet to miles at 5280ft instead of 10000ft 4 DisableCrosshair

OSD_FONT: OSD Font

Note: Reboot required after change

This sets which OSD font to use. It is an integer from 0 to the number of fonts available

OSD_V_OFFSET: OSD vertical offset

Note: Reboot required after change

Sets vertical offset of the osd inside image

Range
0 to 31

OSD_H_OFFSET: OSD horizontal offset

Note: Reboot required after change

Sets horizontal offset of the osd inside image

Range
0 to 63

OSD_W_RSSI: RSSI warn level (in %)

Set level at which RSSI item will flash

Range
0 to 99

OSD_W_NSAT: NSAT warn level

Set level at which NSAT item will flash

Range
1 to 30

OSD_W_BATVOLT: BAT_VOLT warn level

Set level at which BAT_VOLT item will flash

Range
0 to 100

OSD_UNITS: Display Units

Sets the units to use in displaying items

Values
Value Meaning 0 Metric 1 Imperial 2 SI 3 Aviation

OSD_MSG_TIME: Message display duration in seconds

Sets message duration seconds

Range
1 to 20

OSD_ARM_SCR: Arm screen

Screen to be shown on Arm event. Zero to disable the feature.

Range
0 to 4

OSD_DSARM_SCR: Disarm screen

Screen to be shown on disarm event. Zero to disable the feature.

Range
0 to 4

OSD_FS_SCR: Failsafe screen

Screen to be shown on failsafe event. Zero to disable the feature.

Range
0 to 4

OSD_BTN_DELAY: Button delay

Note: This parameter is for advanced users

Debounce time in ms for stick commanded parameter navigation.

Range
0 to 3000

OSD_W_TERR: Terrain warn level

Set level below which TER_HGT item will flash. -1 disables.

Range	Units
-1 to 3000	meters

OSD_W_AVGCELLV: AVGCELLV warn level

Set level at which AVGCELLV item will flash

Range
0 to 100

OSD_CELL_COUNT: Battery cell count

Note: This parameter is for advanced users

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 to 100

OSD_W_ACRVOLT: Avg Cell Resting Volt warn level

Set level at which ACRVOLT item will flash

Range
0 to 100

OSD1_ Parameters

OSD1_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD1_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD1_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 to 29

OSD1_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 to 15

OSD1_BAT_VOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BAT_VOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 to 29

OSD1_BAT_VOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 to 15

OSD1_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 to 29

OSD1_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 to 15

OSD1_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 to 29

OSD1_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 to 15

OSD1_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 to 29

OSD1_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 to 15

OSD1_SATS_EN: SATS_EN

Displays number of acquired satellites

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_SATS_X: SATS_X

Horizontal position on screen

Range
0 to 29

OSD1_SATS_Y: SATS_Y

Vertical position on screen

Range
0 to 15

OSD1_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 to 29

OSD1_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 to 15

OSD1_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 to 29

OSD1_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 to 15

OSD1_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 to 29

OSD1_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 to 15

OSD1_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 to 29

OSD1_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 to 15

OSD1_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HOME_X: HOME_X

Horizontal position on screen

Range
0 to 29

OSD1_HOME_Y: HOME_Y

Vertical position on screen

Range
0 to 15

OSD1_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 to 29

OSD1_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 to 15

OSD1_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 to 29

OSD1_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 to 15

OSD1_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 to 29

OSD1_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD1_WIND_X: WIND_X

Horizontal position on screen

Range
0 to 29

OSD1_WIND_Y: WIND_Y

Vertical position on screen

Range
0 to 15

OSD1_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 to 29

OSD1_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 to 15

OSD1_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 to 29

OSD1_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 to 15

OSD1_ESCTEMP_EN: ESCTEMP_EN

Displays first esc's temp

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ESCTEMP_X: ESCTEMP_X

Horizontal position on screen

Range
0 to 29

OSD1_ESCTEMP_Y: ESCTEMP_Y

Vertical position on screen

Range
0 to 15

OSD1_ESCRPM_EN: ESCRPM_EN

Displays first esc's rpm

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ESCRPM_X: ESCRPM_X

Horizontal position on screen

Range
0 to 29

OSD1_ESCRPM_Y: ESCRPM_Y

Vertical position on screen

Range
0 to 15

OSD1_ESCAMPS_EN: ESCAMPS_EN

Displays first esc's current

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ESCAMPS_X: ESCAMPS_X

Horizontal position on screen

Range
0 to 29

OSD1_ESCAMPS_Y: ESCAMPS_Y

Vertical position on screen

Range
0 to 15

OSD1_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 to 29

OSD1_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 to 15

OSD1_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 to 29

OSD1_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 to 15

OSD1_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 to 29

OSD1_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 to 15

OSD1_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 to 29

OSD1_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 to 15

OSD1_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 to 29

OSD1_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 to 15

OSD1_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 to 29

OSD1_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 to 15

OSD1_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 to 29

OSD1_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 to 15

OSD1_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 to 29

OSD1_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 to 15

OSD1_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_DIST_X: DIST_X

Horizontal position on screen

Range
0 to 29

OSD1_DIST_Y: DIST_Y

Vertical position on screen

Range
0 to 15

OSD1_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_STATS_X: STATS_X

Horizontal position on screen

Range
0 to 29

OSD1_STATS_Y: STATS_Y

Vertical position on screen

Range
0 to 15

OSD1_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 to 29

OSD1_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 to 15

OSD1_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 to 29

OSD1_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 to 15

OSD1_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_EFF_X: EFF_X

Horizontal position on screen

Range
0 to 29

OSD1_EFF_Y: EFF_Y

Vertical position on screen

Range
0 to 15

OSD1_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 to 29

OSD1_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 to 15

OSD1_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 to 29

OSD1_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 to 15

OSD1_BAT2_VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BAT2_VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 to 29

OSD1_BAT2_VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 to 15

OSD1_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 to 29

OSD1_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 to 15

OSD1_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 to 29

OSD1_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 to 15

OSD1_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 to 29

OSD1_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 to 15

OSD1_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CLK_X: CLK_X

Horizontal position on screen

Range
0 to 29

OSD1_CLK_Y: CLK_Y

Vertical position on screen

Range
0 to 15

OSD1_SIDEBARS_EN: SIDEBARS_EN

Displays artificial horizon side bars

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_SIDEBARS_X: SIDEBARS_X

Horizontal position on screen

Range
0 to 29

OSD1_SIDEBARS_Y: SIDEBARS_Y

Vertical position on screen

Range
0 to 15

OSD1_CRSSHAIR_EN: CRSSHAIR_EN

Displays artificial horizon crosshair (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CRSSHAIR_X: CRSSHAIR_X

Horizontal position on screen (MSP OSD only)

Range
0 to 29

OSD1_CRSSHAIR_Y: CRSSHAIR_Y

Vertical position on screen (MSP OSD only)

Range
0 to 15

OSD1_HOMEDIST_EN: HOMEDIST_EN

Displays distance from HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HOMEDIST_X: HOMEDIST_X

Horizontal position on screen (MSP OSD only)

Range
0 to 29

OSD1_HOMEDIST_Y: HOMEDIST_Y

Vertical position on screen (MSP OSD only)

Range
0 to 15

OSD1_HOMEDIR_EN: HOMEDIR_EN

Displays relative direction to HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_HOMEDIR_X: HOMEDIR_X

Horizontal position on screen

Range
0 to 29

OSD1_HOMEDIR_Y: HOMEDIR_Y

Vertical position on screen

Range
0 to 15

OSD1_POWER_EN: POWER_EN

Displays power (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_POWER_X: POWER_X

Horizontal position on screen

Range
0 to 29

OSD1_POWER_Y: POWER_Y

Vertical position on screen

Range
0 to 15

OSD1_CELLVOLT_EN: CELL_VOLT_EN

Displays average cell voltage (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CELLVOLT_X: CELL_VOLT_X

Horizontal position on screen

Range
0 to 29

OSD1_CELLVOLT_Y: CELL_VOLT_Y

Vertical position on screen

Range
0 to 15

OSD1_BATTBAR_EN: BATT_BAR_EN

Displays battery usage bar (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_BATTBAR_X: BATT_BAR_X

Horizontal position on screen

Range
0 to 29

OSD1_BATTBAR_Y: BATT_BAR_Y

Vertical position on screen

Range
0 to 15

OSD1_ARMING_EN: ARMING_EN

Displays arming status (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_ARMING_X: ARMING_X

Horizontal position on screen

Range
0 to 29

OSD1_ARMING_Y: ARMING_Y

Vertical position on screen

Range
0 to 15

OSD1_PLUSCODE_EN: PLUSCODE_EN

Displays pluscode (OLC) element

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_PLUSCODE_X: PLUSCODE_X

Horizontal position on screen

Range
0 to 29

OSD1_PLUSCODE_Y: PLUSCODE_Y

Vertical position on screen

Range
0 to 15

OSD1_CALLSIGN_EN: CALLSIGN_EN

Displays callsign from callsign.txt on microSD card

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CALLSIGN_X: CALLSIGN_X

Horizontal position on screen

Range
0 to 29

OSD1_CALLSIGN_Y: CALLSIGN_Y

Vertical position on screen

Range
0 to 15

OSD1_CURRENT2_EN: CURRENT2_EN

Displays 2nd battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_CURRENT2_X: CURRENT2_X

Horizontal position on screen

Range
0 to 29

OSD1_CURRENT2_Y: CURRENT2_Y

Vertical position on screen

Range
0 to 15

OSD1_VTX_PWR_EN: VTX_PWR_EN

Displays VTX Power

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_VTX_PWR_X: VTX_PWR_X

Horizontal position on screen

Range
0 to 29

OSD1_VTX_PWR_Y: VTX_PWR_Y

Vertical position on screen

Range
0 to 15

OSD1_TER_HGT_EN: TER_HGT_EN

Displays Height above terrain

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_TER_HGT_X: TER_HGT_X

Horizontal position on screen

Range
0 to 29

OSD1_TER_HGT_Y: TER_HGT_Y

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD1_AVGCELLV_X: AVGCELLV_X

Horizontal position on screen

Range
0 to 29

OSD1_AVGCELLV_Y: AVGCELLV_Y

Vertical position on screen

Range
0 to 15

OSD1_RESTVOLT_EN: RESTVOLT_EN

Displays main battery resting voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RESTVOLT_X: RESTVOLT_X

Horizontal position on screen

Range
0 to 29

OSD1_RESTVOLT_Y: RESTVOLT_Y

Vertical position on screen

Range
0 to 15

OSD1_FENCE_EN: FENCE_EN

Displays indication of fence enable and breach

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_FENCE_X: FENCE_X

Horizontal position on screen

Range
0 to 29

OSD1_FENCE_Y: FENCE_Y

Vertical position on screen

Range
0 to 15

OSD1_RNGF_EN: RNGF_EN

Displays a rangefinder's distance in cm

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_RNGF_X: RNGF_X

Horizontal position on screen

Range
0 to 29

OSD1_RNGF_Y: RNGF_Y

Vertical position on screen

Range
0 to 15

OSD1_ACRVOLT_EN: ACRVOLT_EN

Displays resting voltage for the average cell. 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
Value Meaning 0 Disabled 1 Enabled

OSD1_ACRVOLT_X: ACRVOLT_X

Horizontal position on screen

Range
0 to 29

OSD1_ACRVOLT_Y: ACRVOLT_Y

Vertical position on screen

Range
0 to 15

OSD1_LINK_Q_EN: LINK_Q_EN

Displays Receiver link quality

Values
Value Meaning 0 Disabled 1 Enabled

OSD1_LINK_Q_X: LINK_Q_X

Horizontal position on screen

Range
0 to 29

OSD1_LINK_Q_Y: LINK_Q_Y

Vertical position on screen

Range
0 to 15

OSD1_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)

Sets the overlay text resolution for this screen to either LD 30x16 or HD 50x18 (MSP DisplayPort only)

Values
Value Meaning 0 30x16 1 50x18

OSD1_FONT: Sets the font index for this screen (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only)

Range
0 to 15

OSD2_ Parameters

OSD2_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD2_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD2_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 to 29

OSD2_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 to 15

OSD2_BAT_VOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BAT_VOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 to 29

OSD2_BAT_VOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 to 15

OSD2_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 to 29

OSD2_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 to 15

OSD2_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 to 29

OSD2_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 to 15

OSD2_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 to 29

OSD2_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 to 15

OSD2_SATS_EN: SATS_EN

Displays number of acquired satellites

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_SATS_X: SATS_X

Horizontal position on screen

Range
0 to 29

OSD2_SATS_Y: SATS_Y

Vertical position on screen

Range
0 to 15

OSD2_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 to 29

OSD2_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 to 15

OSD2_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 to 29

OSD2_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 to 15

OSD2_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 to 29

OSD2_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 to 15

OSD2_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 to 29

OSD2_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 to 15

OSD2_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HOME_X: HOME_X

Horizontal position on screen

Range
0 to 29

OSD2_HOME_Y: HOME_Y

Vertical position on screen

Range
0 to 15

OSD2_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 to 29

OSD2_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 to 15

OSD2_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 to 29

OSD2_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 to 15

OSD2_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 to 29

OSD2_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD2_WIND_X: WIND_X

Horizontal position on screen

Range
0 to 29

OSD2_WIND_Y: WIND_Y

Vertical position on screen

Range
0 to 15

OSD2_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 to 29

OSD2_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 to 15

OSD2_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 to 29

OSD2_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 to 15

OSD2_ESCTEMP_EN: ESCTEMP_EN

Displays first esc's temp

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ESCTEMP_X: ESCTEMP_X

Horizontal position on screen

Range
0 to 29

OSD2_ESCTEMP_Y: ESCTEMP_Y

Vertical position on screen

Range
0 to 15

OSD2_ESCRPM_EN: ESCRPM_EN

Displays first esc's rpm

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ESCRPM_X: ESCRPM_X

Horizontal position on screen

Range
0 to 29

OSD2_ESCRPM_Y: ESCRPM_Y

Vertical position on screen

Range
0 to 15

OSD2_ESCAMPS_EN: ESCAMPS_EN

Displays first esc's current

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ESCAMPS_X: ESCAMPS_X

Horizontal position on screen

Range
0 to 29

OSD2_ESCAMPS_Y: ESCAMPS_Y

Vertical position on screen

Range
0 to 15

OSD2_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 to 29

OSD2_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 to 15

OSD2_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 to 29

OSD2_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 to 15

OSD2_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 to 29

OSD2_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 to 15

OSD2_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 to 29

OSD2_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 to 15

OSD2_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 to 29

OSD2_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 to 15

OSD2_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 to 29

OSD2_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 to 15

OSD2_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 to 29

OSD2_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 to 15

OSD2_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 to 29

OSD2_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 to 15

OSD2_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_DIST_X: DIST_X

Horizontal position on screen

Range
0 to 29

OSD2_DIST_Y: DIST_Y

Vertical position on screen

Range
0 to 15

OSD2_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_STATS_X: STATS_X

Horizontal position on screen

Range
0 to 29

OSD2_STATS_Y: STATS_Y

Vertical position on screen

Range
0 to 15

OSD2_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 to 29

OSD2_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 to 15

OSD2_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 to 29

OSD2_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 to 15

OSD2_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_EFF_X: EFF_X

Horizontal position on screen

Range
0 to 29

OSD2_EFF_Y: EFF_Y

Vertical position on screen

Range
0 to 15

OSD2_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 to 29

OSD2_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 to 15

OSD2_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 to 29

OSD2_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 to 15

OSD2_BAT2_VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BAT2_VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 to 29

OSD2_BAT2_VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 to 15

OSD2_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 to 29

OSD2_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 to 15

OSD2_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 to 29

OSD2_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 to 15

OSD2_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 to 29

OSD2_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 to 15

OSD2_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CLK_X: CLK_X

Horizontal position on screen

Range
0 to 29

OSD2_CLK_Y: CLK_Y

Vertical position on screen

Range
0 to 15

OSD2_SIDEBARS_EN: SIDEBARS_EN

Displays artificial horizon side bars

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_SIDEBARS_X: SIDEBARS_X

Horizontal position on screen

Range
0 to 29

OSD2_SIDEBARS_Y: SIDEBARS_Y

Vertical position on screen

Range
0 to 15

OSD2_CRSSHAIR_EN: CRSSHAIR_EN

Displays artificial horizon crosshair (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CRSSHAIR_X: CRSSHAIR_X

Horizontal position on screen (MSP OSD only)

Range
0 to 29

OSD2_CRSSHAIR_Y: CRSSHAIR_Y

Vertical position on screen (MSP OSD only)

Range
0 to 15

OSD2_HOMEDIST_EN: HOMEDIST_EN

Displays distance from HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HOMEDIST_X: HOMEDIST_X

Horizontal position on screen (MSP OSD only)

Range
0 to 29

OSD2_HOMEDIST_Y: HOMEDIST_Y

Vertical position on screen (MSP OSD only)

Range
0 to 15

OSD2_HOMEDIR_EN: HOMEDIR_EN

Displays relative direction to HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_HOMEDIR_X: HOMEDIR_X

Horizontal position on screen

Range
0 to 29

OSD2_HOMEDIR_Y: HOMEDIR_Y

Vertical position on screen

Range
0 to 15

OSD2_POWER_EN: POWER_EN

Displays power (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_POWER_X: POWER_X

Horizontal position on screen

Range
0 to 29

OSD2_POWER_Y: POWER_Y

Vertical position on screen

Range
0 to 15

OSD2_CELLVOLT_EN: CELL_VOLT_EN

Displays average cell voltage (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CELLVOLT_X: CELL_VOLT_X

Horizontal position on screen

Range
0 to 29

OSD2_CELLVOLT_Y: CELL_VOLT_Y

Vertical position on screen

Range
0 to 15

OSD2_BATTBAR_EN: BATT_BAR_EN

Displays battery usage bar (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_BATTBAR_X: BATT_BAR_X

Horizontal position on screen

Range
0 to 29

OSD2_BATTBAR_Y: BATT_BAR_Y

Vertical position on screen

Range
0 to 15

OSD2_ARMING_EN: ARMING_EN

Displays arming status (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_ARMING_X: ARMING_X

Horizontal position on screen

Range
0 to 29

OSD2_ARMING_Y: ARMING_Y

Vertical position on screen

Range
0 to 15

OSD2_PLUSCODE_EN: PLUSCODE_EN

Displays pluscode (OLC) element

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_PLUSCODE_X: PLUSCODE_X

Horizontal position on screen

Range
0 to 29

OSD2_PLUSCODE_Y: PLUSCODE_Y

Vertical position on screen

Range
0 to 15

OSD2_CALLSIGN_EN: CALLSIGN_EN

Displays callsign from callsign.txt on microSD card

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CALLSIGN_X: CALLSIGN_X

Horizontal position on screen

Range
0 to 29

OSD2_CALLSIGN_Y: CALLSIGN_Y

Vertical position on screen

Range
0 to 15

OSD2_CURRENT2_EN: CURRENT2_EN

Displays 2nd battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_CURRENT2_X: CURRENT2_X

Horizontal position on screen

Range
0 to 29

OSD2_CURRENT2_Y: CURRENT2_Y

Vertical position on screen

Range
0 to 15

OSD2_VTX_PWR_EN: VTX_PWR_EN

Displays VTX Power

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_VTX_PWR_X: VTX_PWR_X

Horizontal position on screen

Range
0 to 29

OSD2_VTX_PWR_Y: VTX_PWR_Y

Vertical position on screen

Range
0 to 15

OSD2_TER_HGT_EN: TER_HGT_EN

Displays Height above terrain

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_TER_HGT_X: TER_HGT_X

Horizontal position on screen

Range
0 to 29

OSD2_TER_HGT_Y: TER_HGT_Y

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD2_AVGCELLV_X: AVGCELLV_X

Horizontal position on screen

Range
0 to 29

OSD2_AVGCELLV_Y: AVGCELLV_Y

Vertical position on screen

Range
0 to 15

OSD2_RESTVOLT_EN: RESTVOLT_EN

Displays main battery resting voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RESTVOLT_X: RESTVOLT_X

Horizontal position on screen

Range
0 to 29

OSD2_RESTVOLT_Y: RESTVOLT_Y

Vertical position on screen

Range
0 to 15

OSD2_FENCE_EN: FENCE_EN

Displays indication of fence enable and breach

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_FENCE_X: FENCE_X

Horizontal position on screen

Range
0 to 29

OSD2_FENCE_Y: FENCE_Y

Vertical position on screen

Range
0 to 15

OSD2_RNGF_EN: RNGF_EN

Displays a rangefinder's distance in cm

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_RNGF_X: RNGF_X

Horizontal position on screen

Range
0 to 29

OSD2_RNGF_Y: RNGF_Y

Vertical position on screen

Range
0 to 15

OSD2_ACRVOLT_EN: ACRVOLT_EN

Displays resting voltage for the average cell. 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
Value Meaning 0 Disabled 1 Enabled

OSD2_ACRVOLT_X: ACRVOLT_X

Horizontal position on screen

Range
0 to 29

OSD2_ACRVOLT_Y: ACRVOLT_Y

Vertical position on screen

Range
0 to 15

OSD2_LINK_Q_EN: LINK_Q_EN

Displays Receiver link quality

Values
Value Meaning 0 Disabled 1 Enabled

OSD2_LINK_Q_X: LINK_Q_X

Horizontal position on screen

Range
0 to 29

OSD2_LINK_Q_Y: LINK_Q_Y

Vertical position on screen

Range
0 to 15

OSD2_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)

Sets the overlay text resolution for this screen to either LD 30x16 or HD 50x18 (MSP DisplayPort only)

Values
Value Meaning 0 30x16 1 50x18

OSD2_FONT: Sets the font index for this screen (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only)

Range
0 to 15

OSD3_ Parameters

OSD3_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD3_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD3_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 to 29

OSD3_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 to 15

OSD3_BAT_VOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BAT_VOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 to 29

OSD3_BAT_VOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 to 15

OSD3_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 to 29

OSD3_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 to 15

OSD3_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 to 29

OSD3_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 to 15

OSD3_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 to 29

OSD3_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 to 15

OSD3_SATS_EN: SATS_EN

Displays number of acquired satellites

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_SATS_X: SATS_X

Horizontal position on screen

Range
0 to 29

OSD3_SATS_Y: SATS_Y

Vertical position on screen

Range
0 to 15

OSD3_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 to 29

OSD3_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 to 15

OSD3_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 to 29

OSD3_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 to 15

OSD3_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 to 29

OSD3_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 to 15

OSD3_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 to 29

OSD3_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 to 15

OSD3_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HOME_X: HOME_X

Horizontal position on screen

Range
0 to 29

OSD3_HOME_Y: HOME_Y

Vertical position on screen

Range
0 to 15

OSD3_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 to 29

OSD3_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 to 15

OSD3_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 to 29

OSD3_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 to 15

OSD3_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 to 29

OSD3_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD3_WIND_X: WIND_X

Horizontal position on screen

Range
0 to 29

OSD3_WIND_Y: WIND_Y

Vertical position on screen

Range
0 to 15

OSD3_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 to 29

OSD3_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 to 15

OSD3_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 to 29

OSD3_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 to 15

OSD3_ESCTEMP_EN: ESCTEMP_EN

Displays first esc's temp

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ESCTEMP_X: ESCTEMP_X

Horizontal position on screen

Range
0 to 29

OSD3_ESCTEMP_Y: ESCTEMP_Y

Vertical position on screen

Range
0 to 15

OSD3_ESCRPM_EN: ESCRPM_EN

Displays first esc's rpm

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ESCRPM_X: ESCRPM_X

Horizontal position on screen

Range
0 to 29

OSD3_ESCRPM_Y: ESCRPM_Y

Vertical position on screen

Range
0 to 15

OSD3_ESCAMPS_EN: ESCAMPS_EN

Displays first esc's current

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ESCAMPS_X: ESCAMPS_X

Horizontal position on screen

Range
0 to 29

OSD3_ESCAMPS_Y: ESCAMPS_Y

Vertical position on screen

Range
0 to 15

OSD3_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 to 29

OSD3_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 to 15

OSD3_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 to 29

OSD3_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 to 15

OSD3_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 to 29

OSD3_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 to 15

OSD3_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 to 29

OSD3_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 to 15

OSD3_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 to 29

OSD3_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 to 15

OSD3_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 to 29

OSD3_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 to 15

OSD3_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 to 29

OSD3_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 to 15

OSD3_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 to 29

OSD3_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 to 15

OSD3_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_DIST_X: DIST_X

Horizontal position on screen

Range
0 to 29

OSD3_DIST_Y: DIST_Y

Vertical position on screen

Range
0 to 15

OSD3_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_STATS_X: STATS_X

Horizontal position on screen

Range
0 to 29

OSD3_STATS_Y: STATS_Y

Vertical position on screen

Range
0 to 15

OSD3_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 to 29

OSD3_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 to 15

OSD3_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 to 29

OSD3_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 to 15

OSD3_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_EFF_X: EFF_X

Horizontal position on screen

Range
0 to 29

OSD3_EFF_Y: EFF_Y

Vertical position on screen

Range
0 to 15

OSD3_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 to 29

OSD3_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 to 15

OSD3_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 to 29

OSD3_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 to 15

OSD3_BAT2_VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BAT2_VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 to 29

OSD3_BAT2_VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 to 15

OSD3_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 to 29

OSD3_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 to 15

OSD3_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 to 29

OSD3_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 to 15

OSD3_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 to 29

OSD3_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 to 15

OSD3_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CLK_X: CLK_X

Horizontal position on screen

Range
0 to 29

OSD3_CLK_Y: CLK_Y

Vertical position on screen

Range
0 to 15

OSD3_SIDEBARS_EN: SIDEBARS_EN

Displays artificial horizon side bars

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_SIDEBARS_X: SIDEBARS_X

Horizontal position on screen

Range
0 to 29

OSD3_SIDEBARS_Y: SIDEBARS_Y

Vertical position on screen

Range
0 to 15

OSD3_CRSSHAIR_EN: CRSSHAIR_EN

Displays artificial horizon crosshair (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CRSSHAIR_X: CRSSHAIR_X

Horizontal position on screen (MSP OSD only)

Range
0 to 29

OSD3_CRSSHAIR_Y: CRSSHAIR_Y

Vertical position on screen (MSP OSD only)

Range
0 to 15

OSD3_HOMEDIST_EN: HOMEDIST_EN

Displays distance from HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HOMEDIST_X: HOMEDIST_X

Horizontal position on screen (MSP OSD only)

Range
0 to 29

OSD3_HOMEDIST_Y: HOMEDIST_Y

Vertical position on screen (MSP OSD only)

Range
0 to 15

OSD3_HOMEDIR_EN: HOMEDIR_EN

Displays relative direction to HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_HOMEDIR_X: HOMEDIR_X

Horizontal position on screen

Range
0 to 29

OSD3_HOMEDIR_Y: HOMEDIR_Y

Vertical position on screen

Range
0 to 15

OSD3_POWER_EN: POWER_EN

Displays power (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_POWER_X: POWER_X

Horizontal position on screen

Range
0 to 29

OSD3_POWER_Y: POWER_Y

Vertical position on screen

Range
0 to 15

OSD3_CELLVOLT_EN: CELL_VOLT_EN

Displays average cell voltage (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CELLVOLT_X: CELL_VOLT_X

Horizontal position on screen

Range
0 to 29

OSD3_CELLVOLT_Y: CELL_VOLT_Y

Vertical position on screen

Range
0 to 15

OSD3_BATTBAR_EN: BATT_BAR_EN

Displays battery usage bar (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_BATTBAR_X: BATT_BAR_X

Horizontal position on screen

Range
0 to 29

OSD3_BATTBAR_Y: BATT_BAR_Y

Vertical position on screen

Range
0 to 15

OSD3_ARMING_EN: ARMING_EN

Displays arming status (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_ARMING_X: ARMING_X

Horizontal position on screen

Range
0 to 29

OSD3_ARMING_Y: ARMING_Y

Vertical position on screen

Range
0 to 15

OSD3_PLUSCODE_EN: PLUSCODE_EN

Displays pluscode (OLC) element

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_PLUSCODE_X: PLUSCODE_X

Horizontal position on screen

Range
0 to 29

OSD3_PLUSCODE_Y: PLUSCODE_Y

Vertical position on screen

Range
0 to 15

OSD3_CALLSIGN_EN: CALLSIGN_EN

Displays callsign from callsign.txt on microSD card

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CALLSIGN_X: CALLSIGN_X

Horizontal position on screen

Range
0 to 29

OSD3_CALLSIGN_Y: CALLSIGN_Y

Vertical position on screen

Range
0 to 15

OSD3_CURRENT2_EN: CURRENT2_EN

Displays 2nd battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_CURRENT2_X: CURRENT2_X

Horizontal position on screen

Range
0 to 29

OSD3_CURRENT2_Y: CURRENT2_Y

Vertical position on screen

Range
0 to 15

OSD3_VTX_PWR_EN: VTX_PWR_EN

Displays VTX Power

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_VTX_PWR_X: VTX_PWR_X

Horizontal position on screen

Range
0 to 29

OSD3_VTX_PWR_Y: VTX_PWR_Y

Vertical position on screen

Range
0 to 15

OSD3_TER_HGT_EN: TER_HGT_EN

Displays Height above terrain

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_TER_HGT_X: TER_HGT_X

Horizontal position on screen

Range
0 to 29

OSD3_TER_HGT_Y: TER_HGT_Y

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD3_AVGCELLV_X: AVGCELLV_X

Horizontal position on screen

Range
0 to 29

OSD3_AVGCELLV_Y: AVGCELLV_Y

Vertical position on screen

Range
0 to 15

OSD3_RESTVOLT_EN: RESTVOLT_EN

Displays main battery resting voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RESTVOLT_X: RESTVOLT_X

Horizontal position on screen

Range
0 to 29

OSD3_RESTVOLT_Y: RESTVOLT_Y

Vertical position on screen

Range
0 to 15

OSD3_FENCE_EN: FENCE_EN

Displays indication of fence enable and breach

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_FENCE_X: FENCE_X

Horizontal position on screen

Range
0 to 29

OSD3_FENCE_Y: FENCE_Y

Vertical position on screen

Range
0 to 15

OSD3_RNGF_EN: RNGF_EN

Displays a rangefinder's distance in cm

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_RNGF_X: RNGF_X

Horizontal position on screen

Range
0 to 29

OSD3_RNGF_Y: RNGF_Y

Vertical position on screen

Range
0 to 15

OSD3_ACRVOLT_EN: ACRVOLT_EN

Displays resting voltage for the average cell. 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
Value Meaning 0 Disabled 1 Enabled

OSD3_ACRVOLT_X: ACRVOLT_X

Horizontal position on screen

Range
0 to 29

OSD3_ACRVOLT_Y: ACRVOLT_Y

Vertical position on screen

Range
0 to 15

OSD3_LINK_Q_EN: LINK_Q_EN

Displays Receiver link quality

Values
Value Meaning 0 Disabled 1 Enabled

OSD3_LINK_Q_X: LINK_Q_X

Horizontal position on screen

Range
0 to 29

OSD3_LINK_Q_Y: LINK_Q_Y

Vertical position on screen

Range
0 to 15

OSD3_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)

Sets the overlay text resolution for this screen to either LD 30x16 or HD 50x18 (MSP DisplayPort only)

Values
Value Meaning 0 30x16 1 50x18

OSD3_FONT: Sets the font index for this screen (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only)

Range
0 to 15

OSD4_ Parameters

OSD4_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD4_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD4_ALTITUDE_EN: ALTITUDE_EN

Enables display of altitude AGL

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ALTITUDE_X: ALTITUDE_X

Horizontal position on screen

Range
0 to 29

OSD4_ALTITUDE_Y: ALTITUDE_Y

Vertical position on screen

Range
0 to 15

OSD4_BAT_VOLT_EN: BATVOLT_EN

Displays main battery voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BAT_VOLT_X: BATVOLT_X

Horizontal position on screen

Range
0 to 29

OSD4_BAT_VOLT_Y: BATVOLT_Y

Vertical position on screen

Range
0 to 15

OSD4_RSSI_EN: RSSI_EN

Displays RC signal strength

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RSSI_X: RSSI_X

Horizontal position on screen

Range
0 to 29

OSD4_RSSI_Y: RSSI_Y

Vertical position on screen

Range
0 to 15

OSD4_CURRENT_EN: CURRENT_EN

Displays main battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CURRENT_X: CURRENT_X

Horizontal position on screen

Range
0 to 29

OSD4_CURRENT_Y: CURRENT_Y

Vertical position on screen

Range
0 to 15

OSD4_BATUSED_EN: BATUSED_EN

Displays primary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BATUSED_X: BATUSED_X

Horizontal position on screen

Range
0 to 29

OSD4_BATUSED_Y: BATUSED_Y

Vertical position on screen

Range
0 to 15

OSD4_SATS_EN: SATS_EN

Displays number of acquired satellites

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_SATS_X: SATS_X

Horizontal position on screen

Range
0 to 29

OSD4_SATS_Y: SATS_Y

Vertical position on screen

Range
0 to 15

OSD4_FLTMODE_EN: FLTMODE_EN

Displays flight mode

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_FLTMODE_X: FLTMODE_X

Horizontal position on screen

Range
0 to 29

OSD4_FLTMODE_Y: FLTMODE_Y

Vertical position on screen

Range
0 to 15

OSD4_MESSAGE_EN: MESSAGE_EN

Displays Mavlink messages

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_MESSAGE_X: MESSAGE_X

Horizontal position on screen

Range
0 to 29

OSD4_MESSAGE_Y: MESSAGE_Y

Vertical position on screen

Range
0 to 15

OSD4_GSPEED_EN: GSPEED_EN

Displays GPS ground speed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GSPEED_X: GSPEED_X

Horizontal position on screen

Range
0 to 29

OSD4_GSPEED_Y: GSPEED_Y

Vertical position on screen

Range
0 to 15

OSD4_HORIZON_EN: HORIZON_EN

Displays artificial horizon

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HORIZON_X: HORIZON_X

Horizontal position on screen

Range
0 to 29

OSD4_HORIZON_Y: HORIZON_Y

Vertical position on screen

Range
0 to 15

OSD4_HOME_EN: HOME_EN

Displays distance and relative direction to HOME

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HOME_X: HOME_X

Horizontal position on screen

Range
0 to 29

OSD4_HOME_Y: HOME_Y

Vertical position on screen

Range
0 to 15

OSD4_HEADING_EN: HEADING_EN

Displays heading

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HEADING_X: HEADING_X

Horizontal position on screen

Range
0 to 29

OSD4_HEADING_Y: HEADING_Y

Vertical position on screen

Range
0 to 15

OSD4_THROTTLE_EN: THROTTLE_EN

Displays actual throttle percentage being sent to motor(s)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_THROTTLE_X: THROTTLE_X

Horizontal position on screen

Range
0 to 29

OSD4_THROTTLE_Y: THROTTLE_Y

Vertical position on screen

Range
0 to 15

OSD4_COMPASS_EN: COMPASS_EN

Enables display of compass rose

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_COMPASS_X: COMPASS_X

Horizontal position on screen

Range
0 to 29

OSD4_COMPASS_Y: COMPASS_Y

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD4_WIND_X: WIND_X

Horizontal position on screen

Range
0 to 29

OSD4_WIND_Y: WIND_Y

Vertical position on screen

Range
0 to 15

OSD4_ASPEED_EN: ASPEED_EN

Displays airspeed value being used by TECS (fused value)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPEED_X: ASPEED_X

Horizontal position on screen

Range
0 to 29

OSD4_ASPEED_Y: ASPEED_Y

Vertical position on screen

Range
0 to 15

OSD4_VSPEED_EN: VSPEED_EN

Displays climb rate

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_VSPEED_X: VSPEED_X

Horizontal position on screen

Range
0 to 29

OSD4_VSPEED_Y: VSPEED_Y

Vertical position on screen

Range
0 to 15

OSD4_ESCTEMP_EN: ESCTEMP_EN

Displays first esc's temp

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ESCTEMP_X: ESCTEMP_X

Horizontal position on screen

Range
0 to 29

OSD4_ESCTEMP_Y: ESCTEMP_Y

Vertical position on screen

Range
0 to 15

OSD4_ESCRPM_EN: ESCRPM_EN

Displays first esc's rpm

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ESCRPM_X: ESCRPM_X

Horizontal position on screen

Range
0 to 29

OSD4_ESCRPM_Y: ESCRPM_Y

Vertical position on screen

Range
0 to 15

OSD4_ESCAMPS_EN: ESCAMPS_EN

Displays first esc's current

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ESCAMPS_X: ESCAMPS_X

Horizontal position on screen

Range
0 to 29

OSD4_ESCAMPS_Y: ESCAMPS_Y

Vertical position on screen

Range
0 to 15

OSD4_GPSLAT_EN: GPSLAT_EN

Displays GPS latitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GPSLAT_X: GPSLAT_X

Horizontal position on screen

Range
0 to 29

OSD4_GPSLAT_Y: GPSLAT_Y

Vertical position on screen

Range
0 to 15

OSD4_GPSLONG_EN: GPSLONG_EN

Displays GPS longitude

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_GPSLONG_X: GPSLONG_X

Horizontal position on screen

Range
0 to 29

OSD4_GPSLONG_Y: GPSLONG_Y

Vertical position on screen

Range
0 to 15

OSD4_ROLL_EN: ROLL_EN

Displays degrees of roll from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ROLL_X: ROLL_X

Horizontal position on screen

Range
0 to 29

OSD4_ROLL_Y: ROLL_Y

Vertical position on screen

Range
0 to 15

OSD4_PITCH_EN: PITCH_EN

Displays degrees of pitch from level

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_PITCH_X: PITCH_X

Horizontal position on screen

Range
0 to 29

OSD4_PITCH_Y: PITCH_Y

Vertical position on screen

Range
0 to 15

OSD4_TEMP_EN: TEMP_EN

Displays temperature reported by primary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_TEMP_X: TEMP_X

Horizontal position on screen

Range
0 to 29

OSD4_TEMP_Y: TEMP_Y

Vertical position on screen

Range
0 to 15

OSD4_HDOP_EN: HDOP_EN

Displays Horizontal Dilution Of Position

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HDOP_X: HDOP_X

Horizontal position on screen

Range
0 to 29

OSD4_HDOP_Y: HDOP_Y

Vertical position on screen

Range
0 to 15

OSD4_WAYPOINT_EN: WAYPOINT_EN

Displays bearing and distance to next waypoint

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_WAYPOINT_X: WAYPOINT_X

Horizontal position on screen

Range
0 to 29

OSD4_WAYPOINT_Y: WAYPOINT_Y

Vertical position on screen

Range
0 to 15

OSD4_XTRACK_EN: XTRACK_EN

Displays crosstrack error

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_XTRACK_X: XTRACK_X

Horizontal position on screen

Range
0 to 29

OSD4_XTRACK_Y: XTRACK_Y

Vertical position on screen

Range
0 to 15

OSD4_DIST_EN: DIST_EN

Displays total distance flown

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_DIST_X: DIST_X

Horizontal position on screen

Range
0 to 29

OSD4_DIST_Y: DIST_Y

Vertical position on screen

Range
0 to 15

OSD4_STATS_EN: STATS_EN

Displays flight stats

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_STATS_X: STATS_X

Horizontal position on screen

Range
0 to 29

OSD4_STATS_Y: STATS_Y

Vertical position on screen

Range
0 to 15

OSD4_FLTIME_EN: FLTIME_EN

Displays total flight time

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_FLTIME_X: FLTIME_X

Horizontal position on screen

Range
0 to 29

OSD4_FLTIME_Y: FLTIME_Y

Vertical position on screen

Range
0 to 15

OSD4_CLIMBEFF_EN: CLIMBEFF_EN

Displays climb efficiency (climb rate/current)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CLIMBEFF_X: CLIMBEFF_X

Horizontal position on screen

Range
0 to 29

OSD4_CLIMBEFF_Y: CLIMBEFF_Y

Vertical position on screen

Range
0 to 15

OSD4_EFF_EN: EFF_EN

Displays flight efficiency (mAh/km or /mi)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_EFF_X: EFF_X

Horizontal position on screen

Range
0 to 29

OSD4_EFF_Y: EFF_Y

Vertical position on screen

Range
0 to 15

OSD4_BTEMP_EN: BTEMP_EN

Displays temperature reported by secondary barometer

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BTEMP_X: BTEMP_X

Horizontal position on screen

Range
0 to 29

OSD4_BTEMP_Y: BTEMP_Y

Vertical position on screen

Range
0 to 15

OSD4_ATEMP_EN: ATEMP_EN

Displays temperature reported by primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ATEMP_X: ATEMP_X

Horizontal position on screen

Range
0 to 29

OSD4_ATEMP_Y: ATEMP_Y

Vertical position on screen

Range
0 to 15

OSD4_BAT2_VLT_EN: BAT2VLT_EN

Displays battery2 voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BAT2_VLT_X: BAT2VLT_X

Horizontal position on screen

Range
0 to 29

OSD4_BAT2_VLT_Y: BAT2VLT_Y

Vertical position on screen

Range
0 to 15

OSD4_BAT2USED_EN: BAT2USED_EN

Displays secondary battery mAh consumed

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BAT2USED_X: BAT2USED_X

Horizontal position on screen

Range
0 to 29

OSD4_BAT2USED_Y: BAT2USED_Y

Vertical position on screen

Range
0 to 15

OSD4_ASPD2_EN: ASPD2_EN

Displays airspeed reported directly from secondary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPD2_X: ASPD2_X

Horizontal position on screen

Range
0 to 29

OSD4_ASPD2_Y: ASPD2_Y

Vertical position on screen

Range
0 to 15

OSD4_ASPD1_EN: ASPD1_EN

Displays airspeed reported directly from primary airspeed sensor

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ASPD1_X: ASPD1_X

Horizontal position on screen

Range
0 to 29

OSD4_ASPD1_Y: ASPD1_Y

Vertical position on screen

Range
0 to 15

OSD4_CLK_EN: CLK_EN

Displays a clock panel based on AP_RTC local time

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CLK_X: CLK_X

Horizontal position on screen

Range
0 to 29

OSD4_CLK_Y: CLK_Y

Vertical position on screen

Range
0 to 15

OSD4_SIDEBARS_EN: SIDEBARS_EN

Displays artificial horizon side bars

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_SIDEBARS_X: SIDEBARS_X

Horizontal position on screen

Range
0 to 29

OSD4_SIDEBARS_Y: SIDEBARS_Y

Vertical position on screen

Range
0 to 15

OSD4_CRSSHAIR_EN: CRSSHAIR_EN

Displays artificial horizon crosshair (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CRSSHAIR_X: CRSSHAIR_X

Horizontal position on screen (MSP OSD only)

Range
0 to 29

OSD4_CRSSHAIR_Y: CRSSHAIR_Y

Vertical position on screen (MSP OSD only)

Range
0 to 15

OSD4_HOMEDIST_EN: HOMEDIST_EN

Displays distance from HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HOMEDIST_X: HOMEDIST_X

Horizontal position on screen (MSP OSD only)

Range
0 to 29

OSD4_HOMEDIST_Y: HOMEDIST_Y

Vertical position on screen (MSP OSD only)

Range
0 to 15

OSD4_HOMEDIR_EN: HOMEDIR_EN

Displays relative direction to HOME (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_HOMEDIR_X: HOMEDIR_X

Horizontal position on screen

Range
0 to 29

OSD4_HOMEDIR_Y: HOMEDIR_Y

Vertical position on screen

Range
0 to 15

OSD4_POWER_EN: POWER_EN

Displays power (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_POWER_X: POWER_X

Horizontal position on screen

Range
0 to 29

OSD4_POWER_Y: POWER_Y

Vertical position on screen

Range
0 to 15

OSD4_CELLVOLT_EN: CELL_VOLT_EN

Displays average cell voltage (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CELLVOLT_X: CELL_VOLT_X

Horizontal position on screen

Range
0 to 29

OSD4_CELLVOLT_Y: CELL_VOLT_Y

Vertical position on screen

Range
0 to 15

OSD4_BATTBAR_EN: BATT_BAR_EN

Displays battery usage bar (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_BATTBAR_X: BATT_BAR_X

Horizontal position on screen

Range
0 to 29

OSD4_BATTBAR_Y: BATT_BAR_Y

Vertical position on screen

Range
0 to 15

OSD4_ARMING_EN: ARMING_EN

Displays arming status (MSP OSD only)

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_ARMING_X: ARMING_X

Horizontal position on screen

Range
0 to 29

OSD4_ARMING_Y: ARMING_Y

Vertical position on screen

Range
0 to 15

OSD4_PLUSCODE_EN: PLUSCODE_EN

Displays pluscode (OLC) element

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_PLUSCODE_X: PLUSCODE_X

Horizontal position on screen

Range
0 to 29

OSD4_PLUSCODE_Y: PLUSCODE_Y

Vertical position on screen

Range
0 to 15

OSD4_CALLSIGN_EN: CALLSIGN_EN

Displays callsign from callsign.txt on microSD card

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CALLSIGN_X: CALLSIGN_X

Horizontal position on screen

Range
0 to 29

OSD4_CALLSIGN_Y: CALLSIGN_Y

Vertical position on screen

Range
0 to 15

OSD4_CURRENT2_EN: CURRENT2_EN

Displays 2nd battery current

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_CURRENT2_X: CURRENT2_X

Horizontal position on screen

Range
0 to 29

OSD4_CURRENT2_Y: CURRENT2_Y

Vertical position on screen

Range
0 to 15

OSD4_VTX_PWR_EN: VTX_PWR_EN

Displays VTX Power

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_VTX_PWR_X: VTX_PWR_X

Horizontal position on screen

Range
0 to 29

OSD4_VTX_PWR_Y: VTX_PWR_Y

Vertical position on screen

Range
0 to 15

OSD4_TER_HGT_EN: TER_HGT_EN

Displays Height above terrain

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_TER_HGT_X: TER_HGT_X

Horizontal position on screen

Range
0 to 29

OSD4_TER_HGT_Y: TER_HGT_Y

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD4_AVGCELLV_X: AVGCELLV_X

Horizontal position on screen

Range
0 to 29

OSD4_AVGCELLV_Y: AVGCELLV_Y

Vertical position on screen

Range
0 to 15

OSD4_RESTVOLT_EN: RESTVOLT_EN

Displays main battery resting voltage

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RESTVOLT_X: RESTVOLT_X

Horizontal position on screen

Range
0 to 29

OSD4_RESTVOLT_Y: RESTVOLT_Y

Vertical position on screen

Range
0 to 15

OSD4_FENCE_EN: FENCE_EN

Displays indication of fence enable and breach

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_FENCE_X: FENCE_X

Horizontal position on screen

Range
0 to 29

OSD4_FENCE_Y: FENCE_Y

Vertical position on screen

Range
0 to 15

OSD4_RNGF_EN: RNGF_EN

Displays a rangefinder's distance in cm

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_RNGF_X: RNGF_X

Horizontal position on screen

Range
0 to 29

OSD4_RNGF_Y: RNGF_Y

Vertical position on screen

Range
0 to 15

OSD4_ACRVOLT_EN: ACRVOLT_EN

Displays resting voltage for the average cell. 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
Value Meaning 0 Disabled 1 Enabled

OSD4_ACRVOLT_X: ACRVOLT_X

Horizontal position on screen

Range
0 to 29

OSD4_ACRVOLT_Y: ACRVOLT_Y

Vertical position on screen

Range
0 to 15

OSD4_LINK_Q_EN: LINK_Q_EN

Displays Receiver link quality

Values
Value Meaning 0 Disabled 1 Enabled

OSD4_LINK_Q_X: LINK_Q_X

Horizontal position on screen

Range
0 to 29

OSD4_LINK_Q_Y: LINK_Q_Y

Vertical position on screen

Range
0 to 15

OSD4_TXT_RES: Sets the overlay text resolution (MSP DisplayPort only)

Sets the overlay text resolution for this screen to either LD 30x16 or HD 50x18 (MSP DisplayPort only)

Values
Value Meaning 0 30x16 1 50x18

OSD4_FONT: Sets the font index for this screen (MSP DisplayPort only)

Sets the font index for this screen (MSP DisplayPort only)

Range
0 to 15

OSD5_ Parameters

OSD5_ENABLE: Enable screen

Enable this screen

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD5_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD5_SAVE_X: SAVE_X

Note: This parameter is for advanced users

Horizontal position of Save button on screen

Range
0 to 25

OSD5_SAVE_Y: SAVE_Y

Note: This parameter is for advanced users

Vertical position of Save button on screen

Range
0 to 15

OSD5_PARAM1 Parameters

OSD5_PARAM1_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM1_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM1_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM2_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM2_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM3_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM3_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM4_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM4_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM5_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM5_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM6_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM6_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM7_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM7_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM8_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM8_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD5_PARAM9_X: X position

Horizontal position on screen

Range
0 to 29

OSD5_PARAM9_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_CHAN_MIN: Transmitter switch screen minimum pwm

This sets the PWM lower limit for this screen

Range
900 to 2100

OSD6_CHAN_MAX: Transmitter switch screen maximum pwm

This sets the PWM upper limit for this screen

Range
900 to 2100

OSD6_SAVE_X: SAVE_X

Note: This parameter is for advanced users

Horizontal position of Save button on screen

Range
0 to 25

OSD6_SAVE_Y: SAVE_Y

Note: This parameter is for advanced users

Vertical position of Save button on screen

Range
0 to 15

OSD6_PARAM1 Parameters

OSD6_PARAM1_EN: Enable

Enable setting

Values
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM1_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM1_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM2_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM2_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM3_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM3_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM4_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM4_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM5_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM5_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM6_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM6_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM7_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM7_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM8_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM8_Y: Y position

Vertical position on screen

Range
0 to 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
Value Meaning 0 Disabled 1 Enabled

OSD6_PARAM9_X: X position

Horizontal position on screen

Range
0 to 29

OSD6_PARAM9_Y: Y position

Vertical position on screen

Range
0 to 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

Note: This parameter is for advanced users

Precision Land enabled/disabled

Values
Value Meaning 0 Disabled 1 Enabled

PLND_TYPE: Precision Land Type

Note: This parameter is for advanced users

Precision Land Type

Values
Value Meaning 0 None 1 CompanionComputer 2 IRLock 3 SITL_Gazebo 4 SITL

PLND_YAW_ALIGN: Sensor yaw alignment

Note: This parameter is for advanced users

Yaw angle from body x-axis to sensor x-axis.

Increment	Range	Units
10	0 to 36000	centidegrees

PLND_LAND_OFS_X: Land offset forward

Note: This parameter is for advanced users

Desired landing position of the camera forward of the target in vehicle body frame

Increment	Range	Units
1	-20 to 20	centimeters

PLND_LAND_OFS_Y: Land offset right

Note: This parameter is for advanced users

desired landing position of the camera right of the target in vehicle body frame

Increment	Range	Units
1	-20 to 20	centimeters

PLND_EST_TYPE: Precision Land Estimator Type

Note: This parameter is for advanced users

Specifies the estimation method to be used

Values
Value Meaning 0 RawSensor 1 KalmanFilter

PLND_ACC_P_NSE: Kalman Filter Accelerometer Noise

Note: This parameter is for advanced users

Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less

Range
0.5 to 5

PLND_CAM_POS_X: Camera X position offset

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

PLND_CAM_POS_Y: Camera Y position offset

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

PLND_CAM_POS_Z: Camera Z position offset

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 to 5	meters

PLND_BUS: Sensor Bus

Note: This parameter is for advanced users

Precland sensor bus for I2C sensors.

Values
Value Meaning -1 DefaultBus 0 InternalI2C 1 ExternalI2C

PLND_LAG: Precision Landing sensor lag

Note: This parameter is for advanced users

Note: Reboot required after change

Precision Landing sensor lag, to cope with variable landing_target latency

Increment	Range	Units
1	0.02 to 0.250	seconds

PLND_XY_DIST_MAX: Precision Landing maximum distance to target before descending

Note: This parameter is for advanced users

The vehicle will not start descending if the landing target is detected and it is further than this many meters away. Set 0 to always descend.

Range	Units
0 to 10	meters

PLND_STRICT: PrecLand strictness

How strictly should the vehicle land on the target if target is lost

Values
Value Meaning 0 Land Vertically (Not strict) 1 Retry Landing(Normal Strictness) 2 Do not land (just Hover) (Very Strict)

PLND_RET_MAX: PrecLand Maximum number of retires for a failed landing

PrecLand Maximum number of retires for a failed landing. Set to zero to disable landing retry.

Increment	Range
1	0 to 10

PLND_TIMEOUT: PrecLand retry timeout

Time for which vehicle continues descend even if target is lost. After this time period, vehicle will attemp a landing retry depending on PLND_STRICT parameter.

Range	Units
0 to 20	seconds

PLND_RET_BEHAVE: PrecLand retry behaviour

Prec Land will do the action selected by this parameter if a retry to a landing is needed

Values
Value Meaning 0 Go to the last location where landing target was detected 1 Go towards the approximate location of the detected landing target

PLND_ALT_MIN: PrecLand minimum alt for retry

Vehicle will continue landing vertically even if target is lost below this height. This needs a rangefinder to work. Set to zero to disable this.

Range	Units
0 to 5	meters

PLND_ALT_MAX: PrecLand maximum alt for retry

Vehicle will continue landing vertically until this height if target is not found. Below this height if landing target is not found, landing retry/failsafe might be attempted. This needs a rangefinder to work. Set to zero to disable this.

Range	Units
0 to 50	meters

PLND_OPTIONS: Precision Landing Extra Options

Note: This parameter is for advanced users

Precision Landing Extra Options

Bitmask
Bit Meaning 0 Moving Landing Target 1 Allow Precision Landing after manual reposition

PLND_ORIENT: Camera Orientation

Note: This parameter is for advanced users

Note: Reboot required after change

Orientation of camera/sensor on body

Values
Value Meaning 0 Forward 4 Back 25 Down

PRX Parameters

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
Value Meaning 0 Disabled 1 Enabled

PRX_LOG_RAW: Proximity raw distances log

Note: This parameter is for advanced users

Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled

Values
Value Meaning 0 Off 1 On

PRX_FILT: Proximity filter cutoff frequency

Note: This parameter is for advanced users

Cutoff frequency for low pass filter applied to each face in the proximity boundary

Range	Units
0 to 20	hertz

PRX_ALT_MIN: Proximity lowest altitude.

Note: This parameter is for advanced users

Minimum altitude below which proximity should not work.

Range	Units
0 to 10	meters

PRX1 Parameters

PRX1_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN

PRX1_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX1_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX1_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX1_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX1_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX1_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX1_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX1_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX1_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX1_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX1_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX1_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX1_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PRX2 Parameters

PRX2_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN

PRX2_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX2_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX2_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX2_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX2_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX2_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX2_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX2_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX2_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX2_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX2_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX2_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX2_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PRX3 Parameters

PRX3_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN

PRX3_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX3_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX3_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX3_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX3_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX3_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX3_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX3_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX3_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX3_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX3_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX3_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX3_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PRX4 Parameters

PRX4_TYPE: Proximity type

Note: Reboot required after change

What type of proximity sensor is connected

Values
Value Meaning 0 None 7 LightwareSF40c 2 MAVLink 3 TeraRangerTower 4 RangeFinder 5 RPLidarA2 6 TeraRangerTowerEvo 8 LightwareSF45B 10 SITL 12 AirSimSITL 13 CygbotD1 14 DroneCAN

PRX4_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX4_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX4_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX4_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX4_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX4_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX4_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX4_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX4_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX4_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX4_MIN: Proximity minimum range

Note: This parameter is for advanced users

Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX4_MAX: Proximity maximum range

Note: This parameter is for advanced users

Maximum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.

Range	Units
0 to 500	meters

PRX4_ADDR: Bus address of sensor

The bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

PSC Parameters

PSC_ACC_XY_FILT: XY Acceleration filter cutoff frequency

Note: This parameter is for advanced users

Lower values will slow the response of the navigation controller and reduce twitchiness

Increment	Range	Units
0.1	0.5 to 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 to 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 to 8.000

PSC_VELZ_I: Velocity (vertical) controller I gain

Note: This parameter is for advanced users

Velocity (vertical) controller I gain. Corrects long-term difference in desired velocity to a target acceleration

Increment	Range
0.01	0.02 to 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 to 8.000

PSC_VELZ_D: Velocity (vertical) controller D gain

Note: This parameter is for advanced users

Velocity (vertical) controller D gain. Corrects short-term changes in velocity

Increment	Range
0.001	0.00 to 1.00

PSC_VELZ_FF: Velocity (vertical) controller Feed Forward gain

Note: This parameter is for advanced users

Velocity (vertical) controller Feed Forward gain. Produces an output that is proportional to the magnitude of the target

Increment	Range
0.01	0 to 1

PSC_VELZ_FLTE: Velocity (vertical) error filter

Note: This parameter is for advanced users

Velocity (vertical) error filter. This filter (in Hz) is applied to the input for P and I terms

Range	Units
0 to 100	hertz

PSC_VELZ_FLTD: Velocity (vertical) input filter for D term

Note: This parameter is for advanced users

Velocity (vertical) input filter for D term. This filter (in Hz) is applied to the input for D terms

Range	Units
0 to 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 to 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 to 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 to 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 to 0.400

PSC_ACCZ_FF: Acceleration (vertical) controller feed forward

Acceleration (vertical) controller feed forward

Increment	Range
0.001	0 to 0.5

PSC_ACCZ_FLTT: Acceleration (vertical) controller target frequency in Hz

Acceleration (vertical) controller target frequency in Hz

Increment	Range	Units
1	1 to 50	hertz

PSC_ACCZ_FLTE: Acceleration (vertical) controller error frequency in Hz

Acceleration (vertical) controller error frequency in Hz

Increment	Range	Units
1	1 to 100	hertz

PSC_ACCZ_FLTD: Acceleration (vertical) controller derivative frequency in Hz

Acceleration (vertical) controller derivative frequency in Hz

Increment	Range	Units
1	1 to 100	hertz

PSC_ACCZ_SMAX: Accel (vertical) slew rate limit

Note: This parameter is for advanced users

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 to 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 to 2.000

PSC_VELXY_P: Velocity (horizontal) P gain

Note: This parameter is for advanced users

Velocity (horizontal) P gain. Converts the difference between desired and actual velocity to a target acceleration

Increment	Range
0.1	0.1 to 6.0

PSC_VELXY_I: Velocity (horizontal) I gain

Note: This parameter is for advanced users

Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration

Increment	Range
0.01	0.02 to 1.00

PSC_VELXY_D: Velocity (horizontal) D gain

Note: This parameter is for advanced users

Velocity (horizontal) D gain. Corrects short-term changes in velocity

Increment	Range
0.001	0.00 to 1.00

PSC_VELXY_IMAX: Velocity (horizontal) integrator maximum

Note: This parameter is for advanced users

Velocity (horizontal) integrator maximum. Constrains the target acceleration that the I gain will output

Increment	Range	Units
10	0 to 4500	centimeters per square second

PSC_VELXY_FLTE: Velocity (horizontal) input filter

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for P and I terms

Range	Units
0 to 100	hertz

PSC_VELXY_FLTD: Velocity (horizontal) input filter

Note: This parameter is for advanced users

Velocity (horizontal) input filter. This filter (in Hz) is applied to the input for D term

Range	Units
0 to 100	hertz

PSC_VELXY_FF: Velocity (horizontal) feed forward gain

Note: This parameter is for advanced users

Velocity (horizontal) feed forward gain. Converts the difference between desired velocity to a target acceleration

Increment	Range
0.01	0 to 6

PSC_ANGLE_MAX: Position Control Angle Max

Note: This parameter is for advanced users

Maximum lean angle autopilot can request. Set to zero to use ANGLE_MAX parameter value

Increment	Range	Units
1	0 to 45	degrees

PSC_JERK_XY: Jerk limit for the horizontal kinematic input shaping

Note: This parameter is for advanced users

Jerk limit of the horizontal kinematic path generation used to determine how quickly the aircraft varies the acceleration target

Increment	Range	Units
1	1 to 20	meters per cubic second

PSC_JERK_Z: Jerk limit for the vertical kinematic input shaping

Note: This parameter is for advanced users

Jerk limit of the vertical kinematic path generation used to determine how quickly the aircraft varies the acceleration target

Increment	Range	Units
1	5 to 50	meters per cubic second

RALLY_ Parameters

RALLY_TOTAL: Rally Total

Note: This parameter is for advanced users

Number of rally points currently loaded

RALLY_LIMIT_KM: Rally Limit

Note: This parameter is for advanced users

Maximum distance to rally point. If the closest rally point is more than this number of kilometers from the current position and the home location is closer than any of the rally points from the current position then do RTL to home rather than to the closest rally point. This prevents a leftover rally point from a different airfield being used accidentally. If this is set to 0 then the closest rally point is always used.

Increment	Units
0.1	kilometers

RALLY_INCL_HOME: Rally Include Home

Controls if Home is included as a Rally point (i.e. as a safe landing place) for RTL

Values
Value Meaning 0 DoNotIncludeHome 1 IncludeHome

RC Parameters

RC_OVERRIDE_TIME: RC override timeout

Note: This parameter is for advanced users

Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled

Range	Units
0.0 to 120.0	seconds

RC_OPTIONS: RC options

Note: This parameter is for advanced users

RC input options

Bitmask

Bit Meaning 0 Ignore RC Receiver 1 Ignore MAVLink Overrides 2 Ignore Receiver Failsafe bit but allow other RC failsafes if setup 3 FPort Pad 4 Log RC input bytes 5 Arming check throttle for 0 input 6 Skip the arming check for neutral Roll/Pitch/Yaw sticks 7 Allow Switch reverse 8 Use passthrough for CRSF telemetry 9 Suppress CRSF mode/rate message for ELRS systems 10 Enable multiple receiver support 11 Use Link Quality for RSSI with CRSF 12 Annotate CRSF flight mode with * on disarm 13 Use 420kbaud for ELRS protocol

RC_PROTOCOLS: RC protocols enabled

Note: This parameter is for advanced users

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
Bit Meaning 0 All 1 PPM 2 IBUS 3 SBUS 4 SBUS_NI 5 DSM 6 SUMD 7 SRXL 8 SRXL2 9 CRSF 10 ST24 11 FPORT 12 FPORT2 13 FastSBUS

RC_FS_TIMEOUT: RC Failsafe timeout

RC failsafe will trigger this many seconds after loss of RC

Range	Units
0.5 to 10.0	seconds

RC10_ Parameters

RC10_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC10_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC10_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC10_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC10_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC10_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC11_ Parameters

RC11_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC11_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC11_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC11_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC11_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC11_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC12_ Parameters

RC12_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC12_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC12_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC12_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC12_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC12_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC13_ Parameters

RC13_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC13_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC13_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC13_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC13_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC13_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC14_ Parameters

RC14_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC14_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC14_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC14_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC14_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC14_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC15_ Parameters

RC15_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC15_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC15_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC15_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC15_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC15_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC16_ Parameters

RC16_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC16_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC16_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC16_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC16_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC16_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC1_ Parameters

RC1_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC1_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC1_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC1_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC1_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC1_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC2_ Parameters

RC2_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC2_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC2_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC2_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC2_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC2_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC3_ Parameters

RC3_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC3_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC3_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC3_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC3_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC3_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC4_ Parameters

RC4_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC4_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC4_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC4_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC4_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC4_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC5_ Parameters

RC5_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC5_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC5_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC5_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC5_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC5_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC6_ Parameters

RC6_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC6_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC6_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC6_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC6_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC6_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC7_ Parameters

RC7_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC7_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC7_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC7_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC7_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC7_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC8_ Parameters

RC8_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC8_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC8_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC8_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC8_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC8_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RC9_ Parameters

RC9_MIN: RC min PWM

Note: This parameter is for advanced users

RC minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC9_TRIM: RC trim PWM

Note: This parameter is for advanced users

RC trim (neutral) PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC9_MAX: RC max PWM

Note: This parameter is for advanced users

RC maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment	Range	Units
1	800 to 2200	PWM in microseconds

RC9_REVERSED: RC reversed

Note: This parameter is for advanced users

Reverse channel input. Set to 0 for normal operation. Set to 1 to reverse this input channel.

Values
Value Meaning 0 Normal 1 Reversed

RC9_DZ: RC dead-zone

Note: This parameter is for advanced users

PWM dead zone in microseconds around trim or bottom

Range	Units
0 to 200	PWM in microseconds

RC9_OPTION: RC input option

Function assigned to this RC channel

Values

Value Meaning 0 Do Nothing 2 Flip 3 Simple Mode 4 RTL 5 Save Trim 7 Save WP 9 Camera Trigger 10 RangeFinder 11 Fence 13 Super Simple Mode 14 Acro Trainer 15 Sprayer 16 Auto 17 AutoTune 18 Land 19 Gripper 21 Parachute Enable 22 Parachute Release 23 Parachute 3pos 24 Auto Mission Reset 25 AttCon Feed Forward 26 AttCon Accel Limits 27 Retract Mount1 28 Relay On/Off 29 Landing Gear 30 Lost Copter Sound 31 Motor Emergency Stop 32 Motor Interlock 33 Brake 34 Relay2 On/Off 35 Relay3 On/Off 36 Relay4 On/Off 37 Throw 38 ADSB Avoidance En 39 PrecLoiter 40 Proximity Avoidance 41 ArmDisarm (4.1 and lower) 42 SmartRTL 43 InvertedFlight 44 Winch Enable 46 RC Override Enable 47 User Function 1 48 User Function 2 49 User Function 3 52 Acro 55 Guided 56 Loiter 57 Follow 58 Clear Waypoints 60 ZigZag 61 ZigZag SaveWP 62 Compass Learn 65 GPS Disable 66 Relay5 On/Off 67 Relay6 On/Off 68 Stabilize 69 PosHold 70 AltHold 71 FlowHold 72 Circle 73 Drift 75 SurfaceTrackingUpDown 76 Standby Mode 78 RunCam Control 79 RunCam OSD Control 80 VisOdom Align 81 Disarm 83 ZigZag Auto 84 Air Mode 85 Generator 90 EKF Pos Source 94 VTX Power 99 AUTO RTL 100 KillIMU1 101 KillIMU2 102 Camera Mode Toggle 105 GPS Disable Yaw 110 KillIMU3 151 Turtle 152 simple heading reset 153 ArmDisarm (4.2 and higher) 154 ArmDisarm with AirMode (4.2 and higher) 158 Optflow Calibration 159 Force Flying 161 Turbine Start(heli) 162 FFT Tune 163 Mount Lock 164 Pause Stream Logging 165 Arm/Emergency Motor Stop 166 Camera Record Video 167 Camera Zoom 168 Camera Manual Focus 169 Camera Auto Focus 171 Calibrate Compasses 172 Battery MPPT Enable 212 Mount1 Roll 213 Mount1 Pitch 214 Mount1 Yaw 215 Mount2 Roll 216 Mount2 Pitch 217 Mount2 Yaw 300 Scripting1 301 Scripting2 302 Scripting3 303 Scripting4 304 Scripting5 305 Scripting6 306 Scripting7 307 Scripting8

RCMAP_ Parameters

RCMAP_ROLL: Roll channel

Note: This parameter is for advanced users

Note: Reboot required after change

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
1	1 to 16

RCMAP_PITCH: Pitch channel

Note: This parameter is for advanced users

Note: Reboot required after change

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
1	1 to 16

RCMAP_THROTTLE: Throttle channel

Note: This parameter is for advanced users

Note: Reboot required after change

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. Reboot is required for changes to take effect.

Increment	Range
1	1 to 16

RCMAP_YAW: Yaw channel

Note: This parameter is for advanced users

Note: Reboot required after change

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
1	1 to 16

RELAY_ Parameters

RELAY_PIN: First Relay Pin

Digital pin number for first relay control. This is the pin used for camera shutter control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 27 BBBMini Pin P8.17 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8

RELAY_PIN2: Second Relay Pin

Digital pin number for 2nd relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 65 BBBMini Pin P8.18 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8

RELAY_PIN3: Third Relay Pin

Digital pin number for 3rd relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 22 BBBMini Pin P8.19 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8

RELAY_PIN4: Fourth Relay Pin

Digital pin number for 4th relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 63 BBBMini Pin P8.34 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8

RELAY_DEFAULT: Default relay state

The state of the relay on boot.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY_PIN5: Fifth Relay Pin

Digital pin number for 5th relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 62 BBBMini Pin P8.13 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8

RELAY_PIN6: Sixth Relay Pin

Digital pin number for 6th relay control. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Disabled 49 BB Blue GP0 pin 4 50 AUXOUT1 51 AUXOUT2 52 AUXOUT3 53 AUXOUT4 54 AUXOUT5 55 AUXOUT6 57 BB Blue GP0 pin 3 113 BB Blue GP0 pin 6 116 BB Blue GP0 pin 5 37 BBBMini Pin P8.14 101 MainOut1 102 MainOut2 103 MainOut3 104 MainOut4 105 MainOut5 106 MainOut6 107 MainOut7 108 MainOut8

RNGFND1_ Parameters

RNGFND1_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND1_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND1_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND1_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND1_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND1_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND1_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND1_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND1_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND1_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND1_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND1_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND1_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND1_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND1_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND1_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND1_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND1_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND1_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND1_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND1_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND1_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND2_ Parameters

RNGFND2_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND2_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND2_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND2_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND2_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND2_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND2_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND2_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND2_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND2_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND2_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND2_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND2_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND2_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND2_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND2_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND2_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND2_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND2_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND2_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND2_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND2_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND3_ Parameters

RNGFND3_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND3_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND3_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND3_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND3_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND3_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND3_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND3_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND3_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND3_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND3_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND3_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND3_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND3_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND3_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND3_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND3_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND3_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND3_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND3_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND3_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND3_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND4_ Parameters

RNGFND4_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND4_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND4_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND4_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND4_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND4_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND4_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND4_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND4_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND4_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND4_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND4_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND4_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND4_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND4_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND4_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND4_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND4_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND4_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND4_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND4_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND4_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND5_ Parameters

RNGFND5_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND5_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND5_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND5_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND5_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND5_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND5_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND5_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND5_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND5_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND5_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND5_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND5_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND5_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND5_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND5_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND5_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND5_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND5_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND5_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND5_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND5_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND6_ Parameters

RNGFND6_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND6_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND6_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND6_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND6_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND6_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND6_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND6_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND6_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND6_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND6_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND6_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND6_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND6_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND6_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND6_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND6_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND6_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND6_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND6_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND6_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND6_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND7_ Parameters

RNGFND7_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND7_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND7_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND7_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND7_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND7_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND7_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND7_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND7_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND7_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND7_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND7_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND7_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND7_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND7_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND7_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND7_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND7_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND7_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND7_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND7_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND7_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND8_ Parameters

RNGFND8_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND8_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND8_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND8_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND8_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND8_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND8_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND8_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND8_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND8_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND8_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND8_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND8_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND8_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND8_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND8_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND8_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND8_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND8_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND8_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND8_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND8_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND9_ Parameters

RNGFND9_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFND9_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND9_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFND9_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND9_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND9_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFND9_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFND9_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFND9_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFND9_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND9_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND9_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFND9_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFND9_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFND9_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFND9_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFND9_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFND9_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFND9_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFND9_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFND9_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFND9_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFNDA_ Parameters

RNGFNDA_TYPE: Rangefinder type

Type of connected rangefinder

Values

Value Meaning 0 None 1 Analog 2 MaxbotixI2C 3 LidarLite-I2C 5 PWM 6 BBB-PRU 7 LightWareI2C 8 LightWareSerial 9 Bebop 10 MAVLink 11 USD1_Serial 12 LeddarOne 13 MaxbotixSerial 14 TeraRangerI2C 15 LidarLiteV3-I2C 16 VL53L0X or VL53L1X 17 NMEA 18 WASP-LRF 19 BenewakeTF02 20 Benewake-Serial 21 LidarLightV3HP 22 PWM 23 BlueRoboticsPing 24 DroneCAN 25 BenewakeTFminiPlus-I2C 26 LanbaoPSK-CM8JL65-CC5 27 BenewakeTF03 28 VL53L1X-ShortRange 29 LeddarVu8-Serial 30 HC-SR04 31 GYUS42v2 32 MSP 33 USD1_CAN 34 Benewake_CAN 35 TeraRangerSerial 36 Lua_Scripting 100 SITL

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. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki's "GPIOs" section for details.

Values
Value Meaning -1 Not Used 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

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. For Maxbotix serial sonar this is unit conversion to meters.

Increment	Units
0.001	meters per volt

RNGFNDA_OFFSET: rangefinder offset

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFNDA_FUNCTION: Rangefinder function

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values
Value Meaning 0 Linear 1 Inverted 2 Hyperbolic

RNGFNDA_MIN_CM: Rangefinder minimum distance

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFNDA_MAX_CM: Rangefinder maximum distance

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFNDA_STOP_PIN: Rangefinder stop pin

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values
Value Meaning -1 Not Used 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 111 PX4 FMU Relay1 112 PX4 FMU Relay2 113 PX4IO Relay1 114 PX4IO Relay2 115 PX4IO ACC1 116 PX4IO ACC2

RNGFNDA_RMETRIC: Ratiometric

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values
Value Meaning 0 No 1 Yes

RNGFNDA_PWRRNG: Powersave range

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 to 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 to 127	centimeters

RNGFNDA_ADDR: Bus address of sensor

This sets the bus address of the sensor, where applicable. Used for the I2C and DroneCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 to 127

RNGFNDA_POS_X: X position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFNDA_POS_Y: Y position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFNDA_POS_Z: Z position offset

Note: This parameter is for advanced users

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 to 5	meters

RNGFNDA_ORIENT: Rangefinder orientation

Note: This parameter is for advanced users

Orientation of rangefinder

Values
Value Meaning 0 Forward 1 Forward-Right 2 Right 3 Back-Right 4 Back 5 Back-Left 6 Left 7 Forward-Left 24 Up 25 Down

RNGFNDA_WSP_MAVG: Moving Average Range

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 to 255

RNGFNDA_WSP_MEDF: Moving Median Filter

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 to 255

RNGFNDA_WSP_FRQ: Frequency

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 to 10000

RNGFNDA_WSP_AVG: Multi-pulse averages

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 to 255

RNGFNDA_WSP_THR: Sensitivity threshold

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 to 255

RNGFNDA_WSP_BAUD: Baud rate

Note: This parameter is for advanced users

Desired baud rate

Values
Value Meaning 0 Low Speed 1 High Speed

RNGFNDA_RECV_ID (AP_RangeFinder_Benewake_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RNGFNDA_SNR_MIN: Minimum signal strength

Note: This parameter is for advanced users

Minimum signal strength (SNR) to accept distance

Range
0 to 65535

RNGFNDA_RECV_ID (AP_RangeFinder_USD1_CAN): CAN receive ID

Note: This parameter is for advanced users

The receive ID of the CAN frames. A value of zero means all IDs are accepted.

Range
0 to 65535

RPM1_ Parameters

RPM1_TYPE: RPM type

What type of RPM sensor is connected

Values
Value Meaning 0 None 1 Not Used 2 GPIO 3 EFI 4 Harmonic Notch 5 ESC Telemetry Motors Bitmask 6 Generator

RPM1_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM1_MAX: Maximum RPM

Maximum RPM to report. Only used on type = GPIO.

Increment
1

RPM1_MIN: Minimum RPM

Minimum RPM to report. Only used on type = GPIO.

Increment
1

RPM1_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM1_PIN: Input pin number

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

RPM1_ESC_MASK: Bitmask of ESC telemetry channels to average

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

RPM2_ Parameters

RPM2_TYPE: RPM type

What type of RPM sensor is connected

Values
Value Meaning 0 None 1 Not Used 2 GPIO 3 EFI 4 Harmonic Notch 5 ESC Telemetry Motors Bitmask 6 Generator

RPM2_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM2_MAX: Maximum RPM

Maximum RPM to report. Only used on type = GPIO.

Increment
1

RPM2_MIN: Minimum RPM

Minimum RPM to report. Only used on type = GPIO.

Increment
1

RPM2_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM2_PIN: Input pin number

Which digital GPIO pin to use. Only used on type = GPIO. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

RPM2_ESC_MASK: Bitmask of ESC telemetry channels to average

Note: This parameter is for advanced users

Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16

RSSI_ Parameters

RSSI_TYPE: RSSI Type

Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.

Values
Value Meaning 0 Disabled 1 AnalogPin 2 RCChannelPwmValue 3 ReceiverProtocol 4 PWMInputPin 5 TelemetryRadioRSSI

RSSI_ANA_PIN: Receiver RSSI sensing pin

Pin used to read the RSSI voltage or PWM value

Values
Value Meaning 8 V5 Nano 11 Pixracer 13 Pixhawk ADC4 14 Pixhawk ADC3 15 Pixhawk ADC6/Pixhawk2 ADC 50 AUX1 51 AUX2 52 AUX3 53 AUX4 54 AUX5 55 AUX6 103 Pixhawk SBUS

RSSI_PIN_LOW: RSSI pin's lowest voltage

RSSI pin's voltage received on the RSSI_ANA_PIN when the signal strength is the weakest. Some radio receivers put out inverted values so this value may be higher than RSSI_PIN_HIGH. When using pin 103, the maximum value of the parameter is 3.3V.

Increment	Range	Units
0.01	0 to 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. When using pin 103, the maximum value of the parameter is 3.3V.

Increment	Range	Units
0.01	0 to 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 to 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 to 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 to 2000	PWM in microseconds

SCHED_ Parameters

SCHED_DEBUG: Scheduler debug level

Note: This parameter is for advanced users

Set to non-zero to enable scheduler debug messages. When set to show "Slips" the scheduler will display a message whenever a scheduled task is delayed due to too much CPU load. When set to ShowOverruns the scheduled will display a message whenever a task takes longer than the limit promised in the task table.

Values
Value Meaning 0 Disabled 2 ShowSlips 3 ShowOverruns

SCHED_LOOP_RATE: Scheduling main loop rate

Note: This parameter is for advanced users

Note: Reboot required after change

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.

Values
Value Meaning 50 50Hz 100 100Hz 200 200Hz 250 250Hz 300 300Hz 400 400Hz

SCHED_OPTIONS: Scheduling options

Note: This parameter is for advanced users

This controls optional aspects of the scheduler.

Bitmask
Bit Meaning 0 Enable per-task perf info

SCR_ Parameters

SCR_ENABLE: Enable Scripting

Note: This parameter is for advanced users

Note: Reboot required after change

Controls if scripting is enabled

Values
Value Meaning 0 None 1 Lua Scripts

SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count

Note: This parameter is for advanced users

The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time

Increment	Range
10000	1000 to 1000000

SCR_HEAP_SIZE: Scripting Heap Size

Note: This parameter is for advanced users

Note: Reboot required after change

Amount of memory available for scripting

Increment	Range
1024	1024 to 1048576

SCR_DEBUG_OPTS: Scripting Debug Level

Note: This parameter is for advanced users

Debugging options

Bitmask
Bit Meaning 0 No Scripts to run message if all scripts have stopped 1 Runtime messages for memory usage and execution time 2 Suppress logging scripts to dataflash 3 log runtime memory usage and execution time 4 Disable pre-arm check

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_USER5: Scripting User Parameter5

General purpose user variable input for scripts

SCR_USER6: Scripting User Parameter6

General purpose user variable input for scripts

SCR_DIR_DISABLE: Directory disable

Note: This parameter is for advanced users

Note: Reboot required after change

This will stop scripts being loaded from the given locations

Bitmask
Bit Meaning 0 ROMFS 1 APM/scripts

SERIAL Parameters

SERIAL0_BAUD: Serial0 baud rate

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL0_PROTOCOL: Console protocol selection

Note: Reboot required after change

Control what protocol to use on the console.

Values
Value Meaning 1 MAVlink1 2 MAVLink2

SERIAL1_PROTOCOL: Telem1 protocol selection

Note: Reboot required after change

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

SERIAL1_BAUD: Telem1 Baud Rate

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL2_PROTOCOL: Telemetry 2 protocol selection

Note: Reboot required after change

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

SERIAL2_BAUD: Telemetry 2 Baud Rate

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection

Note: Reboot required after change

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

SERIAL3_BAUD: Serial 3 (GPS) Baud Rate

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL4_PROTOCOL: Serial4 protocol selection

Note: Reboot required after change

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

SERIAL4_BAUD: Serial 4 Baud Rate

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL5_PROTOCOL: Serial5 protocol selection

Note: Reboot required after change

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

SERIAL5_BAUD: Serial 5 Baud Rate

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL6_PROTOCOL: Serial6 protocol selection

Note: Reboot required after change

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

SERIAL6_BAUD: Serial 6 Baud Rate

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL1_OPTIONS: Telem1 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERIAL2_OPTIONS: Telem2 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERIAL3_OPTIONS: Serial3 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERIAL4_OPTIONS: Serial4 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERIAL5_OPTIONS: Serial5 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERIAL6_OPTIONS: Serial6 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERIAL_PASS1: Serial passthru first port

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

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

SERIAL_PASS2: Serial passthru second port

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

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

SERIAL_PASSTIMO: Serial passthru timeout

Note: This parameter is for advanced users

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.

Range	Units
0 to 120	seconds

SERIAL7_PROTOCOL: Serial7 protocol selection

Note: Reboot required after change

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

SERIAL7_BAUD: Serial 7 Baud Rate

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL7_OPTIONS: Serial7 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERIAL8_PROTOCOL: Serial8 protocol selection

Note: Reboot required after change

Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

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
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL8_OPTIONS: Serial8 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERIAL9_PROTOCOL: Serial9 protocol selection

Note: Reboot required after change

Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

Values

Value Meaning -1 None 1 MAVLink1 2 MAVLink2 3 Frsky D 4 Frsky SPort 5 GPS 7 Alexmos Gimbal Serial 8 Gimbal 9 Rangefinder 10 FrSky SPort Passthrough (OpenTX) 11 Lidar360 13 Beacon 14 Volz servo out 15 SBus servo out 16 ESC Telemetry 17 Devo Telemetry 18 OpticalFlow 19 RobotisServo 20 NMEA Output 21 WindVane 22 SLCAN 23 RCIN 24 EFI Serial 25 LTM 26 RunCam 27 HottTelem 28 Scripting 29 Crossfire VTX 30 Generator 31 Winch 32 MSP 33 DJI FPV 34 AirSpeed 35 ADSB 36 AHRS 37 SmartAudio 38 FETtecOneWire 39 Torqeedo 40 AIS 41 CoDevESC 42 DisplayPort 43 MAVLink High Latency 44 IRC Tramp

SERIAL9_BAUD: Serial 9 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
Value Meaning 1 1200 2 2400 4 4800 9 9600 19 19200 38 38400 57 57600 111 111100 115 115200 230 230400 256 256000 460 460800 500 500000 921 921600 1500 1500000 2000 2000000

SERIAL9_OPTIONS: Serial9 options

Note: This parameter is for advanced users

Note: Reboot required after change

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
Bit Meaning 0 InvertRX 1 InvertTX 2 HalfDuplex 3 SwapTXRX 4 RX_PullDown 5 RX_PullUp 6 TX_PullDown 7 TX_PullUp 8 RX_NoDMA 9 TX_NoDMA 10 Don’t forward mavlink to/from 11 DisableFIFO 12 Ignore Streamrate

SERVO Parameters

SERVO_RATE: Servo default output rate

Note: This parameter is for advanced users

This sets the default output rate in Hz for all outputs.

Range	Units
25 to 400	hertz

SERVO_DSHOT_RATE: Servo DShot output rate

Note: This parameter is for advanced users

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
Value Meaning 0 1Khz 1 loop-rate 2 double loop-rate 3 triple loop-rate 4 quadruple loop rate

SERVO_DSHOT_ESC: Servo DShot ESC type

Note: This parameter is for advanced users

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
Value Meaning 0 None 1 BLHeli32/Kiss 2 BLHeli_S

SERVO_GPIO_MASK: Servo GPIO mask

Note: This parameter is for advanced users

Note: Reboot required after change

This sets a bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin

Bitmask
Bit Meaning 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 16 Servo 17 17 Servo 18 18 Servo 19 19 Servo 20 20 Servo 21 21 Servo 22 22 Servo 23 23 Servo 24 24 Servo 25 25 Servo 26 26 Servo 27 27 Servo 28 28 Servo 29 29 Servo 30 30 Servo 31 31 Servo 32

SERVO_32_ENABLE: Enable outputs 17 to 31

Note: This parameter is for advanced users

This allows for up to 32 outputs, enabling parameters for outputs above 16

Values
Value Meaning 0 Disabled 1 Enabled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO10_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO10_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO11_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO11_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO12_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO12_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO13_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO13_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO14_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO14_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO15_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO15_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO16_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO16_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO17_ Parameters

SERVO17_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	800 to 2200	PWM in microseconds

SERVO17_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 to 2200	PWM in microseconds

SERVO17_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 to 2200	PWM in microseconds

SERVO17_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO17_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO18_ Parameters

SERVO18_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	800 to 2200	PWM in microseconds

SERVO18_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 to 2200	PWM in microseconds

SERVO18_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 to 2200	PWM in microseconds

SERVO18_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO18_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO19_ Parameters

SERVO19_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	800 to 2200	PWM in microseconds

SERVO19_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 to 2200	PWM in microseconds

SERVO19_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 to 2200	PWM in microseconds

SERVO19_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO19_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO1_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO1_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO20_ Parameters

SERVO20_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	800 to 2200	PWM in microseconds

SERVO20_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 to 2200	PWM in microseconds

SERVO20_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 to 2200	PWM in microseconds

SERVO20_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO20_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO21_ Parameters

SERVO21_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	800 to 2200	PWM in microseconds

SERVO21_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 to 2200	PWM in microseconds

SERVO21_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 to 2200	PWM in microseconds

SERVO21_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO21_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO22_ Parameters

SERVO22_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	800 to 2200	PWM in microseconds

SERVO22_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 to 2200	PWM in microseconds

SERVO22_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 to 2200	PWM in microseconds

SERVO22_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO22_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO23_ Parameters

SERVO23_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	800 to 2200	PWM in microseconds

SERVO23_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 to 2200	PWM in microseconds

SERVO23_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 to 2200	PWM in microseconds

SERVO23_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO23_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO24_ Parameters

SERVO24_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	800 to 2200	PWM in microseconds

SERVO24_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 to 2200	PWM in microseconds

SERVO24_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 to 2200	PWM in microseconds

SERVO24_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO24_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO25_ Parameters

SERVO25_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	800 to 2200	PWM in microseconds

SERVO25_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 to 2200	PWM in microseconds

SERVO25_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 to 2200	PWM in microseconds

SERVO25_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO25_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO26_ Parameters

SERVO26_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	800 to 2200	PWM in microseconds

SERVO26_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 to 2200	PWM in microseconds

SERVO26_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 to 2200	PWM in microseconds

SERVO26_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO26_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO27_ Parameters

SERVO27_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	800 to 2200	PWM in microseconds

SERVO27_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 to 2200	PWM in microseconds

SERVO27_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 to 2200	PWM in microseconds

SERVO27_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO27_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO28_ Parameters

SERVO28_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	800 to 2200	PWM in microseconds

SERVO28_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 to 2200	PWM in microseconds

SERVO28_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 to 2200	PWM in microseconds

SERVO28_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO28_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO29_ Parameters

SERVO29_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	800 to 2200	PWM in microseconds

SERVO29_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 to 2200	PWM in microseconds

SERVO29_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 to 2200	PWM in microseconds

SERVO29_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO29_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO2_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO2_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO30_ Parameters

SERVO30_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	800 to 2200	PWM in microseconds

SERVO30_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 to 2200	PWM in microseconds

SERVO30_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 to 2200	PWM in microseconds

SERVO30_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO30_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO31_ Parameters

SERVO31_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	800 to 2200	PWM in microseconds

SERVO31_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 to 2200	PWM in microseconds

SERVO31_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 to 2200	PWM in microseconds

SERVO31_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO31_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO32_ Parameters

SERVO32_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	800 to 2200	PWM in microseconds

SERVO32_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 to 2200	PWM in microseconds

SERVO32_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 to 2200	PWM in microseconds

SERVO32_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO32_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO3_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO3_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO4_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO4_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO5_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO5_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO6_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO6_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO7_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO7_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO8_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO8_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

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	800 to 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 to 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 to 2200	PWM in microseconds

SERVO9_REVERSED: Servo reverse

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values
Value Meaning 0 Normal 1 Reversed

SERVO9_FUNCTION: Servo output function

Note: Reboot required after change

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

Value Meaning -1 GPIO 0 Disabled 1 RCPassThru 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 22 SprayerPump 23 SprayerSpinner 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 88 Winch 90 CameraISO 91 CameraAperture 92 CameraFocus 93 CameraShutterSpeed 94 Script1 95 Script2 96 Script3 97 Script4 98 Script5 99 Script6 100 Script7 101 Script8 102 Script9 103 Script10 104 Script11 105 Script12 106 Script13 107 Script14 108 Script15 109 Script16 120 NeoPixel1 121 NeoPixel2 122 NeoPixel3 123 NeoPixel4 124 RateRoll 125 RatePitch 126 RateThrust 127 RateYaw 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 138 Alarm 139 Alarm Inverted 140 RCIN1Scaled 141 RCIN2Scaled 142 RCIN3Scaled 143 RCIN4Scaled 144 RCIN5Scaled 145 RCIN6Scaled 146 RCIN7Scaled 147 RCIN8Scaled 148 RCIN9Scaled 149 RCIN10Scaled 150 RCIN11Scaled 151 RCIN12Scaled 152 RCIN13Scaled 153 RCIN14Scaled 154 RCIN15Scaled 155 RCIN16Scaled

SERVO_BLH_ Parameters

SERVO_BLH_MASK: BLHeli Channel Bitmask

Note: This parameter is for advanced users

Note: Reboot required after change

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

Bitmask

Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel 17 17 Channel 18 18 Channel 19 19 Channel 20 20 Channel 21 21 Channel 22 22 Channel 23 23 Channel 24 24 Channel 25 25 Channel 26 26 Channel 27 27 Channel 28 28 Channel 29 29 Channel 30 30 Channel 31 31 Channel 32

SERVO_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors

Note: Reboot required after change

If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors

Values
Value Meaning 0 Disabled 1 Enabled

SERVO_BLH_TEST: BLHeli internal interface test

Note: This parameter is for advanced users

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

Values
Value Meaning 0 Disabled 1 TestMotor1 2 TestMotor2 3 TestMotor3 4 TestMotor4 5 TestMotor5 6 TestMotor6 7 TestMotor7 8 TestMotor8

SERVO_BLH_TMOUT: BLHeli protocol timeout

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

Range	Units
0 to 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 to 500	hertz

SERVO_BLH_DEBUG: BLHeli debug level

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

Values
Value Meaning 0 Disabled 1 Enabled

SERVO_BLH_OTYPE: BLHeli output type override

Note: This parameter is for advanced users

Note: Reboot required after change

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

Values
Value Meaning 0 None 1 OneShot 2 OneShot125 3 Brushed 4 DShot150 5 DShot300 6 DShot600 7 DShot1200

SERVO_BLH_PORT: Control port

Note: This parameter is for advanced users

This sets the mavlink channel to use for blheli pass-thru. The channel number is determined by the number of serial ports configured to use mavlink. So 0 is always the console, 1 is the next serial port using mavlink, 2 the next after that and so on.

Values
Value Meaning 0 Console 1 Mavlink Serial Channel1 2 Mavlink Serial Channel2 3 Mavlink Serial Channel3 4 Mavlink Serial Channel4 5 Mavlink Serial Channel5

SERVO_BLH_POLES: BLHeli Motor Poles

Note: This parameter is for advanced users

Note: Reboot required after change

This allows calculation of true RPM from ESC's eRPM. The default is 14.

Range
1 to 127

SERVO_BLH_3DMASK: BLHeli bitmask of 3D channels

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel 17 17 Channel 18 18 Channel 19 19 Channel 20 20 Channel 21 21 Channel 22 22 Channel 23 23 Channel 24 24 Channel 25 25 Channel 26 26 Channel 27 27 Channel 28 28 Channel 29 29 Channel 30 30 Channel 31 31 Channel 32

SERVO_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel 17 17 Channel 18 18 Channel 19 19 Channel 20 20 Channel 21 21 Channel 22 22 Channel 23 23 Channel 24 24 Channel 25 25 Channel 26 26 Channel 27 27 Channel 28 28 Channel 29 29 Channel 30 30 Channel 31 31 Channel 32

SERVO_BLH_RVMASK: BLHeli bitmask of reversed channels

Note: This parameter is for advanced users

Note: Reboot required after change

Mask of channels which are reversed. This is used to configure ESCs in reversed mode

Bitmask

Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel 17 17 Channel 18 18 Channel 19 19 Channel 20 20 Channel 21 21 Channel 22 22 Channel 23 23 Channel 24 24 Channel 25 25 Channel 26 26 Channel 27 27 Channel 28 28 Channel 29 29 Channel 30 30 Channel 31 31 Channel 32

SERVO_FTW_ Parameters

SERVO_FTW_MASK: Servo channel output bitmask

Note: Reboot required after change

Servo channel mask specifying FETtec ESC output.

Bitmask
Bit Meaning 0 SERVO1 1 SERVO2 2 SERVO3 3 SERVO4 4 SERVO5 5 SERVO6 6 SERVO7 7 SERVO8 8 SERVO9 9 SERVO10 10 SERVO11 11 SERVO12

SERVO_FTW_RVMASK: Servo channel reverse rotation bitmask

Servo channel mask to reverse rotation of FETtec ESC outputs.

Bitmask
Bit Meaning 0 SERVO1 1 SERVO2 2 SERVO3 3 SERVO4 4 SERVO5 5 SERVO6 6 SERVO7 7 SERVO8 8 SERVO9 9 SERVO10 10 SERVO11 11 SERVO12

SERVO_FTW_POLES: Nr. electrical poles

Number of motor electrical poles

Range
2 to 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 to 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 to 4095

SERVO_SBUS_ Parameters

SERVO_SBUS_RATE: SBUS default output rate

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz.

Range	Units
25 to 250	hertz

SERVO_VOLZ_ Parameters

SERVO_VOLZ_MASK: Channel Bitmask

Enable of volz servo protocol to specific channels

Bitmask
Bit Meaning 0 Channel1 1 Channel2 2 Channel3 3 Channel4 4 Channel5 5 Channel6 6 Channel7 7 Channel8 8 Channel9 9 Channel10 10 Channel11 11 Channel12 12 Channel13 13 Channel14 14 Channel15 15 Channel16 16 Channel17 17 Channel18 18 Channel19 19 Channel20 20 Channel21 21 Channel22 22 Channel23 23 Channel24 24 Channel25 25 Channel26 26 Channel27 28 Channel29 29 Channel30 30 Channel31 31 Channel32

SID Parameters

SID_AXIS: System identification axis

Controls which axis are being excited. Set to non-zero to see more parameters

Values
Value Meaning 0 None 1 Input Roll Angle 2 Input Pitch Angle 3 Input Yaw Angle 4 Recovery Roll Angle 5 Recovery Pitch Angle 6 Recovery Yaw Angle 7 Rate Roll 8 Rate Pitch 9 Rate Yaw 10 Mixer Roll 11 Mixer Pitch 12 Mixer Yaw 13 Mixer Thrust

SID_MAGNITUDE: System identification Chirp Magnitude

Magnitude of sweep in deg, deg/s and 0-1 for mixer outputs.

SID_F_START_HZ: System identification Start Frequency

Frequency at the start of the sweep

Range	Units
0.01 to 100	hertz

SID_F_STOP_HZ: System identification Stop Frequency

Frequency at the end of the sweep

Range	Units
0.01 to 100	hertz

SID_T_FADE_IN: System identification Fade in time

Time to reach maximum amplitude of sweep

Range	Units
0 to 20	seconds

SID_T_REC: System identification Total Sweep length

Time taken to complete the sweep

Range	Units
0 to 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 to 5	seconds

Simulation Parameters

SIM_ACCEL1_FAIL: ACCEL1 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL1

Values
Value Meaning 0 Disabled 1 ACCEL1 Failure

SIM_ACCEL2_FAIL: ACCEL2 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL2

Values
Value Meaning 0 Disabled 1 ACCEL2 Failure

SIM_ACCEL3_FAIL: ACCEL3 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL3

Values
Value Meaning 0 Disabled 1 ACCEL3 Failure

SIM_ACCEL4_FAIL: ACCEL4 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL4

Values
Value Meaning 0 Disabled 1 ACCEL4 Failure

SIM_ACCEL5_FAIL: ACCEL5 Failure

Note: This parameter is for advanced users

Simulated failure of ACCEL5

Values
Value Meaning 0 Disabled 1 ACCEL5 Failure

SIM_ACC_FAIL_MSK: Accelerometer Failure Mask

Note: This parameter is for advanced users

Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

Values
Value Meaning 0 Disabled 1 Readings stopped

SIM_ARSPD_FAIL: Airspeed sensor failure

Note: This parameter is for advanced users

Simulates Airspeed sensor 1 failure

Values
Value Meaning 0 Disabled 1 Enabled

SIM_BAR2_GLITCH: Baro2 Glitch

Note: This parameter is for advanced users

Glitch for 2nd baro

Units
meters

SIM_BAR2_RND: Baro2 Noise

Note: This parameter is for advanced users

Amount of (evenly-distributed) noise injected into the 2nd baro

Units
meters

SIM_BAR3_GLITCH: Baro3 Glitch

Note: This parameter is for advanced users

Glitch for 2nd baro

Units
meters

SIM_BAR3_RND: Baro3 Noise

Note: This parameter is for advanced users

Amount of (evenly-distributed) noise injected into the 3rd baro

Units
meters

SIM_BARO_GLITCH: Baro Glitch

Note: This parameter is for advanced users

Glitch for 1st baro

Units
meters

SIM_BARO_RND: Baro Noise

Note: This parameter is for advanced users

Amount of (evenly-distributed) noise injected into the 1st baro

Units
meters

SIM_ESC_TELEM: Simulated ESC Telemetry

Note: This parameter is for advanced users

enable perfect simulated ESC telemetry

SIM_FLOAT_EXCEPT: Generate floating point exceptions

Note: This parameter is for advanced users

If set, if a numerical error occurs SITL will die with a floating point exception.

SIM_GPS2_DISABLE: GPS 2 disable

Note: This parameter is for advanced users

Disables GPS 2

Values
Value Meaning 0 Enable 1 GPS Disabled

SIM_GPS_DISABLE: GPS 1 disable

Note: This parameter is for advanced users

Disables GPS 1

Values
Value Meaning 0 Enable 1 GPS Disabled

SIM_GRPE_ENABLE: Gripper servo Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GRPE_PIN: Gripper emp pin

Note: This parameter is for advanced users

The pin number that the gripper emp is connected to. (start at 1)

Range
0 to 15

SIM_GRPS_ENABLE: Gripper servo Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the gripper servo simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GRPS_GRAB: Gripper Grab PWM

Note: This parameter is for advanced users

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

Range	Units
1000 to 2000	PWM in microseconds

SIM_GRPS_PIN: Gripper servo pin

Note: This parameter is for advanced users

The pin number that the gripper servo is connected to. (start at 1)

Range
0 to 15

SIM_GRPS_RELEASE: Gripper Release PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range	Units
1000 to 2000	PWM in microseconds

SIM_GRPS_REVERSE: Gripper close direction

Note: This parameter is for advanced users

Reverse the closing direction.

Values
Value Meaning 0 Normal 1 Reverse

SIM_GYR1_BIAS_X: First Gyro bias on X axis

Note: This parameter is for advanced users

First Gyro bias on X axis

Units
radians per second

SIM_GYR1_BIAS_Y: First Gyro bias on Y axis

Note: This parameter is for advanced users

First Gyro bias on Y axis

Units
radians per second

SIM_GYR1_BIAS_Z: First Gyro bias on Z axis

Note: This parameter is for advanced users

First Gyro bias on Z axis

Units
radians per second

SIM_GYR2_BIAS_X: Second Gyro bias on X axis

Note: This parameter is for advanced users

Second Gyro bias on X axis

Units
radians per second

SIM_GYR2_BIAS_Y: Second Gyro bias on Y axis

Note: This parameter is for advanced users

Second Gyro bias on Y axis

Units
radians per second

SIM_GYR2_BIAS_Z: Second Gyro bias on Z axis

Note: This parameter is for advanced users

Second Gyro bias on Z axis

Units
radians per second

SIM_GYR3_BIAS_X: Third Gyro bias on X axis

Note: This parameter is for advanced users

Third Gyro bias on X axis

Units
radians per second

SIM_GYR3_BIAS_Y: Third Gyro bias on Y axis

Note: This parameter is for advanced users

Third Gyro bias on Y axis

Units
radians per second

SIM_GYR3_BIAS_Z: Third Gyro bias on Z axis

Note: This parameter is for advanced users

Third Gyro bias on Z axis

Units
radians per second

SIM_GYR4_BIAS_X: Fourth Gyro bias on X axis

Note: This parameter is for advanced users

Fourth Gyro bias on X axis

Units
radians per second

SIM_GYR4_BIAS_Y: Fourth Gyro bias on Y axis

Note: This parameter is for advanced users

Fourth Gyro bias on Y axis

Units
radians per second

SIM_GYR4_BIAS_Z: Fourth Gyro bias on Z axis

Note: This parameter is for advanced users

Fourth Gyro bias on Z axis

Units
radians per second

SIM_GYR5_BIAS_X: Fifth Gyro bias on X axis

Note: This parameter is for advanced users

Fifth Gyro bias on X axis

Units
radians per second

SIM_GYR5_BIAS_Y: Fifth Gyro bias on Y axis

Note: This parameter is for advanced users

Fifth Gyro bias on Y axis

Units
radians per second

SIM_GYR5_BIAS_Z: Fifth Gyro bias on Z axis

Note: This parameter is for advanced users

Fifth Gyro bias on Z axis

Units
radians per second

SIM_GYRO_FAIL_MSK: Gyro Failure Mask

Note: This parameter is for advanced users

Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params

Values
Value Meaning 0 Disabled 1 Readings stopped

SIM_JSON_MASTER: JSON master instance

the instance number to take servos from

SIM_MAG1_FAIL: MAG1 Failure

Note: This parameter is for advanced users

Simulated failure of MAG1

Values
Value Meaning 0 Disabled 1 MAG1 Failure

SIM_MAG2_FAIL: MAG2 Failure

Note: This parameter is for advanced users

Simulated failure of MAG2

Values
Value Meaning 0 Disabled 1 MAG2 Failure

SIM_MAG3_FAIL: MAG3 Failure

Note: This parameter is for advanced users

Simulated failure of MAG3

Values
Value Meaning 0 Disabled 1 MAG3 Failure

SIM_OH_MASK: SIM-on_hardware Output Enable Mask

channels which are passed through to actual hardware when running sim on actual hardware

SIM_OPOS_ALT: Original Position (Altitude)

Note: This parameter is for advanced users

Specifies vehicle's startup altitude (AMSL)

SIM_OPOS_HDG: Original Position (Heading)

Note: This parameter is for advanced users

Specifies vehicle's startup heading (0-360)

SIM_OPOS_LAT: Original Position (Latitude)

Note: This parameter is for advanced users

Specifies vehicle's startup latitude

SIM_OPOS_LNG: Original Position (Longitude)

Note: This parameter is for advanced users

Specifies vehicle's startup longitude

SIM_PLD_ALT_LIMIT: Precland device alt range

Note: This parameter is for advanced users

Precland device maximum range altitude

Range	Units
0 to 100	meters

SIM_PLD_DIST_LIMIT: Precland device lateral range

Note: This parameter is for advanced users

Precland device maximum lateral range

Range	Units
5 to 100	meters

SIM_PLD_ENABLE: Preland device Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Preland simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_PLD_HEIGHT: Precland device center's height above sealevel

Note: This parameter is for advanced users

Precland device center's height above sealevel assume a 2x2m square as station base

Increment	Range	Units
1	0 to 10000	centimeters

SIM_PLD_LAT: Precland device center's latitude

Note: This parameter is for advanced users

Precland device center's latitude

Increment	Range	Units
0.000001	-90 to 90	degrees

SIM_PLD_LON: Precland device center's longitude

Note: This parameter is for advanced users

Precland device center's longitude

Increment	Range	Units
0.000001	-180 to 180	degrees

SIM_PLD_OPTIONS: SIM_Precland extra options

Note: This parameter is for advanced users

SIM_Precland extra options

Bitmask
Bit Meaning 0 Enable target distance

SIM_PLD_ORIENT: Precland device orientation

Note: This parameter is for advanced users

Precland device orientation vector

Values
Value Meaning 0 Front 4 Back 24 Up

SIM_PLD_RATE: Precland device update rate

Note: This parameter is for advanced users

Precland device rate. e.g led patter refresh rate, RF message rate, etc.

Range	Units
0 to 200	hertz

SIM_PLD_TYPE: Precland device radiance type

Note: This parameter is for advanced users

Precland device radiance type: it can be a cylinder, a cone, or a sphere.

Values
Value Meaning 0 cylinder 1 cone 2 sphere

SIM_PLD_YAW: Precland device systems rotation from north

Note: This parameter is for advanced users

Precland device systems rotation from north

Increment	Range	Units
1	-180 to +180	degrees

SIM_RC_FAIL: Simulated RC signal failure

Note: This parameter is for advanced users

Allows you to emulate rc failures in sim

Values
Value Meaning 0 Disabled 1 No RC pusles 2 All Channels neutral except Throttle is 950us

SIM_SPEEDUP: Sim Speedup

Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used

Range
1 to 10

SIM_SPR_ENABLE: Sprayer Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Sprayer simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_SPR_PUMP: Sprayer pump pin

Note: This parameter is for advanced users

The pin number that the Sprayer pump is connected to. (start at 1)

Range
0 to 15

SIM_SPR_SPIN: Sprayer spinner servo pin

Note: This parameter is for advanced users

The pin number that the Sprayer spinner servo is connected to. (start at 1)

Range
0 to 15

SIM_UART_LOSS: UART byte loss percentage

Note: This parameter is for advanced users

Sets percentage of outgoing byte loss on UARTs

Units
percent

SIM_WIND_DIR: Simulated Wind direction

Note: This parameter is for advanced users

Allows you to set wind direction (true deg) in sim

Units
degrees

SIM_WIND_SPD: Simulated Wind speed

Note: This parameter is for advanced users

Allows you to emulate wind in sim

Units
meters per second

SIM_WIND_TURB: Simulated Wind variation

Note: This parameter is for advanced users

Allows you to emulate random wind variations in sim

Units
meters per second

SIM_WIND_T_: Wind Profile Type

Selects how wind varies from surface to WIND_T_ALT

Values
Value Meaning 0 square law 1 none 2 linear-see WIND_T_COEF

SIM_WIND_T_ALT: Full Wind Altitude

Note: This parameter is for advanced users

Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level

Units
meters

SIM_WIND_T_COEF: Linear Wind Curve Coeff

Note: This parameter is for advanced users

For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value

SIM_WOW_PIN: Weight on Wheels Pin

Note: This parameter is for advanced users

SITL set this simulated pin to true if vehicle is on ground

SPRAY_ Parameters

SPRAY_ENABLE: Sprayer enable/disable

Allows you to enable (1) or disable (0) the sprayer

Values
Value Meaning 0 Disabled 1 Enabled

SPRAY_PUMP_RATE: Pump speed

Desired pump speed when traveling 1m/s expressed as a percentage

Range	Units
0 to 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 to 2000	milliseconds

SPRAY_SPEED_MIN: Speed minimum

Speed minimum at which we will begin spraying

Range	Units
0 to 1000	centimeters per second

SPRAY_PUMP_MIN: Pump speed minimum

Minimum pump speed expressed as a percentage

Range	Units
0 to 100	percent

SR0_ Parameters

SR0_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3

Increment	Range	Units
1	0 to 50	hertz

SR0_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

SR0_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

SR0_RAW_CTRL: Unused

Note: This parameter is for advanced users

Note: Reboot required after change

Unused

Increment	Range	Units
1	0 to 50	hertz

SR0_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

SR0_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

Increment	Range
1	0 to 50

SR0_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range	Units
1	0 to 50	hertz

SR0_EXTRA3: Extra data type 3 stream rate

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

SR0_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

SR0_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

SR1_ Parameters

SR1_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3

Increment	Range	Units
1	0 to 50	hertz

SR1_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

SR1_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

SR1_RAW_CTRL: Unused

Note: This parameter is for advanced users

Note: Reboot required after change

Unused

Increment	Range	Units
1	0 to 50	hertz

SR1_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

SR1_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

Increment	Range
1	0 to 50

SR1_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range	Units
1	0 to 50	hertz

SR1_EXTRA3: Extra data type 3 stream rate

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

SR1_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

SR1_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

SR2_ Parameters

SR2_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3

Increment	Range	Units
1	0 to 50	hertz

SR2_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

SR2_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

SR2_RAW_CTRL: Unused

Note: This parameter is for advanced users

Note: Reboot required after change

Unused

Increment	Range	Units
1	0 to 50	hertz

SR2_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

SR2_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

Increment	Range
1	0 to 50

SR2_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range	Units
1	0 to 50	hertz

SR2_EXTRA3: Extra data type 3 stream rate

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

SR2_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

SR2_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

SR3_ Parameters

SR3_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3

Increment	Range	Units
1	0 to 50	hertz

SR3_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

SR3_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

SR3_RAW_CTRL: Unused

Note: This parameter is for advanced users

Note: Reboot required after change

Unused

Increment	Range	Units
1	0 to 50	hertz

SR3_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

SR3_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

Increment	Range
1	0 to 50

SR3_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range	Units
1	0 to 50	hertz

SR3_EXTRA3: Extra data type 3 stream rate

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

SR3_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

SR3_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

SR4_ Parameters

SR4_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3

Increment	Range	Units
1	0 to 50	hertz

SR4_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

SR4_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

SR4_RAW_CTRL: Unused

Note: This parameter is for advanced users

Note: Reboot required after change

Unused

Increment	Range	Units
1	0 to 50	hertz

SR4_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

SR4_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

Increment	Range
1	0 to 50

SR4_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range	Units
1	0 to 50	hertz

SR4_EXTRA3: Extra data type 3 stream rate

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

SR4_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

SR4_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

SR5_ Parameters

SR5_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3

Increment	Range	Units
1	0 to 50	hertz

SR5_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

SR5_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

SR5_RAW_CTRL: Unused

Note: This parameter is for advanced users

Note: Reboot required after change

Unused

Increment	Range	Units
1	0 to 50	hertz

SR5_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

SR5_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

Increment	Range
1	0 to 50

SR5_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range	Units
1	0 to 50	hertz

SR5_EXTRA3: Extra data type 3 stream rate

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

SR5_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

SR5_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

SR6_ Parameters

SR6_RAW_SENS: Raw sensor stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, and SCALED_PRESSURE3

Increment	Range	Units
1	0 to 50	hertz

SR6_EXT_STAT: Extended status stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

Increment	Range	Units
1	0 to 50	hertz

SR6_RC_CHAN: RC Channel stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

Increment	Range	Units
1	0 to 50	hertz

SR6_RAW_CTRL: Unused

Note: This parameter is for advanced users

Note: Reboot required after change

Unused

Increment	Range	Units
1	0 to 50	hertz

SR6_POSITION: Position stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

Increment	Range	Units
1	0 to 50	hertz

SR6_EXTRA1: Extra data type 1 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2 and PID_TUNING

Increment	Range
1	0 to 50

SR6_EXTRA2: Extra data type 2 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of VFR_HUD

Increment	Range	Units
1	0 to 50	hertz

SR6_EXTRA3: Extra data type 3 stream rate

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, BATTERY_STATUS, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, RPM, ESC TELEMETRY,GENERATOR_STATUS, and WINCH_STATUS

SR6_PARAMS: Parameter stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of PARAM_VALUE

Increment	Range	Units
1	0 to 50	hertz

SR6_ADSB: ADSB stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink ADSB stream rate

Increment	Range	Units
1	0 to 50	hertz

SRTL_ Parameters

SRTL_ACCURACY: SmartRTL accuracy

Note: This parameter is for advanced users

SmartRTL accuracy. The minimum distance between points.

Range	Units
0 to 10	meters

SRTL_POINTS: SmartRTL maximum number of points on path

Note: This parameter is for advanced users

Note: Reboot required after change

SmartRTL maximum number of points on path. Set to 0 to disable SmartRTL. 100 points consumes about 3k of memory.

Range
0 to 500

SRTL_OPTIONS: SmartRTL options

Bitmask of SmartRTL options.

Bitmask
Bit Meaning 2 Ignore pilot yaw

STAT Parameters

STAT_BOOTCNT: Boot Count

Number of times board has been booted

ReadOnly
True

STAT_FLTTIME: Total FlightTime

Total FlightTime (seconds)

ReadOnly	Units
True	seconds

STAT_RUNTIME: Total RunTime

Total time autopilot has run

ReadOnly	Units
True	seconds

STAT_RESET: Statistics Reset Time

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)

ReadOnly	Units
True	seconds

TCAL Parameters

TCAL_ENABLED: Temperature calibration enable

Note: This parameter is for advanced users

Enable temperature calibration. Set to 0 to disable. Set to 1 to use learned values. Set to 2 to learn new values and use the values

Values
Value Meaning 0 Disabled 1 Enabled 2 EnableAndLearn

TCAL_TEMP_MIN: Temperature calibration min learned temperature

Note: This parameter is for advanced users

Minimum learned temperature. This is automatically set by the learning process

ReadOnly	Units	Volatile
True	degrees Celsius	True

TCAL_TEMP_MAX: Temperature calibration max learned temperature

Note: This parameter is for advanced users

Maximum learned temperature. This is automatically set by the learning process

ReadOnly	Units	Volatile
True	degrees Celsius	True

TCAL_BARO_EXP: Temperature Calibration barometer exponent

Note: This parameter is for advanced users

Learned exponent for barometer temperature correction

ReadOnly	Volatile
True	True

TEMP Parameters

TEMP_LOG: Logging

Enables temperature sensor logging

Values
Value Meaning 0 Disabled 1 Enabled

TEMP1_ Parameters

TEMP1_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP1_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP1_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP1_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP1_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP2_ Parameters

TEMP2_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP2_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP2_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP2_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP2_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP3_ Parameters

TEMP3_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP3_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP3_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP3_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP3_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP4_ Parameters

TEMP4_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP4_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP4_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP4_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP4_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP5_ Parameters

TEMP5_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP5_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP5_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP5_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP5_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP6_ Parameters

TEMP6_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP6_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP6_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP6_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP6_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP7_ Parameters

TEMP7_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP7_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP7_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP7_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP7_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP8_ Parameters

TEMP8_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP8_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP8_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP8_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP8_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TEMP9_ Parameters

TEMP9_TYPE: Temperature Sensor Type

Note: Reboot required after change

Enables temperature sensors

Values
Value Meaning 0 Disabled 1 TSYS01 2 MCP9600 3 MAX31865

TEMP9_BUS: Temperature sensor bus

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor bus number, typically used to select from multiple I2C buses

Range
0 to 3

TEMP9_ADDR: Temperature sensor address

Note: This parameter is for advanced users

Note: Reboot required after change

Temperature sensor address, typically used for I2C address

Range
0 to 127

TEMP9_SRC: Sensor Source

Sensor Source is used to designate which device's temperature report will be replaced by this temperature sensor's data. If 0 (None) then the data is only available via log. In the future a new Motor temperature report will be created for returning data directly.

Values
Value Meaning 0 None 1 ESC 2 Motor(not implemented yet) 3 Battery Index 4 Battery ID/SerialNumber

TEMP9_SRC_ID: Sensor Source Identification

Sensor Source Identification is used to replace a specific instance of a system component's temperature report with the temp sensor's. Examples: TEMP_SRC = 1 (ESC), TEMP_SRC_ID = 1 will set the temp of ESC1. TEMP_SRC = 3 (BatteryIndex),TEMP_SRC_ID = 2 will set the temp of BATT2. TEMP_SRC = 4 (BatteryId/SerialNum),TEMP_SRC_ID=42 will set the temp of all batteries that have param BATTn_SERIAL = 42.

TERRAIN_ Parameters

TERRAIN_ENABLE: Terrain data enable

Note: This parameter is for advanced users

enable terrain data. This enables the vehicle storing a database of terrain data on the SD card. The terrain data is requested from the ground station as needed, and stored for later use on the SD card. To be useful the ground station must support TERRAIN_REQUEST messages and have access to a terrain database, such as the SRTM database.

Values
Value Meaning 0 Disable 1 Enable

TERRAIN_SPACING: Terrain grid spacing

Note: This parameter is for advanced users

Distance between terrain grid points in meters. This controls the horizontal resolution of the terrain data that is stored on te SD card and requested from the ground station. If your GCS is using the 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

Note: This parameter is for advanced users

Options to change behaviour of terrain system

Bitmask
Bit Meaning 0 Disable Download

TERRAIN_MARGIN: Acceptance margin

Note: This parameter is for advanced users

Margin in centi-meters to accept terrain data from the GCS. This can be used to allow older terrain data generated with less accurate latitude/longitude scaling to be used

Range	Units
0.05 to 50000	meters

TERRAIN_OFS_MAX: Terrain reference offset maximum

Note: This parameter is for advanced users

The maximum adjustment of terrain altitude based on the assumption that the vehicle is on the ground when it is armed. When the vehicle is armed the location of the vehicle is recorded, and when terrain data is available for that location a height adjustment for terrain data is calculated that aligns the terrain height at that location with the altitude recorded at arming. This height adjustment is applied to all terrain data. This parameter clamps the amount of adjustment. A value of zero disables the use of terrain height adjustment.

Range	Units
0 to 50	meters

TMODE Parameters

TMODE_ENABLE: tmode enable

Note: This parameter is for advanced users

tmode (or "toy" mode) gives a simplified user interface designed for mass market drones. Version1 is for the SkyViper V2450GPS. Version2 is for the F412 based boards

Values
Value Meaning 0 Disabled 1 EnableVersion1 2 EnableVersion2

TMODE_MODE1: Tmode first mode

This is the initial mode when the vehicle is first turned on. This mode is assumed to not require GPS

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

TMODE_MODE2: Tmode second mode

This is the secondary mode. This mode is assumed to require GPS

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

TMODE_ACTION1: Tmode action 1

This is the action taken when the left action button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION2: Tmode action 2

This is the action taken when the right action button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION3: Tmode action 3

This is the action taken when the power button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION4: Tmode action 4

This is the action taken when the left action button is pressed while the left (Mode) button is held down

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION5: Tmode action 5

This is the action taken when the right action is pressed while the left (Mode) button is held down

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_ACTION6: Tmode action 6

This is the action taken when the power button is pressed while the left (Mode) button is held down

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_LEFT: Tmode left action

This is the action taken when the left (Mode) button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_LEFT_LONG: Tmode left long action

This is the action taken when the left (Mode) button is long-pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest 24 ModeFlowHold

TMODE_TRIM_AUTO: Stick auto trim limit

This is the amount of automatic stick trim that can be applied when disarmed with sticks not moving. It is a PWM limit value away from 1500

Range
0 to 100

TMODE_RIGHT: Tmode right action

This is the action taken when the right (Return) button is pressed

Values
Value Meaning 0 None 1 TakePhoto 2 ToggleVideo 3 ModeAcro 4 ModeAltHold 5 ModeAuto 6 ModeLoiter 7 ModeRTL 8 ModeCircle 9 ModeLand 10 ModeDrift 11 ModeSport 12 ModeAutoTune 13 ModePosHold 14 ModeBrake 15 ModeThrow 16 Flip 17 ModeStabilize 18 Disarm 19 ToggleMode 20 Arm-Land-RTL 21 ToggleSimpleMode 22 ToggleSuperSimpleMode 23 MotorLoadTest

TMODE_FLAGS: Tmode flags

Bitmask of flags to change the behaviour of tmode. DisarmOnLowThrottle means to disarm if throttle is held down for 1 second when landed. ArmOnHighThrottle means to arm if throttle is above 80% for 1 second. UpgradeToLoiter means to allow takeoff in LOITER mode by switching to ALT_HOLD, then auto-upgrading to LOITER once GPS is available. RTLStickCancel means that on large stick inputs in RTL mode that LOITER mode is engaged

Bitmask
Bit Meaning 0 DisarmOnLowThrottle 1 ArmOnHighThrottle 2 UpgradeToLoiter 3 RTLStickCancel

TMODE_VMIN: Min voltage for output limiting

Note: This parameter is for advanced users

This is the battery voltage below which no output limiting is done

Increment	Range
0.01	0 to 5

TMODE_VMAX: Max voltage for output limiting

Note: This parameter is for advanced users

This is the battery voltage above which thrust min is used

Increment	Range
0.01	0 to 5

TMODE_TMIN: Min thrust multiplier

Note: This parameter is for advanced users

This sets the thrust multiplier when voltage is high

Increment	Range
0.01	0 to 1

TMODE_TMAX: Max thrust multiplier

Note: This parameter is for advanced users

This sets the thrust multiplier when voltage is low

Increment	Range
0.01	0 to 1

TMODE_LOAD_MUL: Load test multiplier

Note: This parameter is for advanced users

This scales the load test output, as a value between 0 and 1

Increment	Range
0.01	0 to 1

TMODE_LOAD_FILT: Load test filter

Note: This parameter is for advanced users

This filters the load test output. A value of 1 means no filter. 2 means values are repeated once. 3 means values are repeated 3 times, etc

Range
0 to 100

TMODE_LOAD_TYPE: Load test type

Note: This parameter is for advanced users

This sets the type of load test

Values
Value Meaning 0 ConstantThrust 1 LogReplay1 2 LogReplay2

VISO Parameters

VISO_TYPE: Visual odometry camera connection type

Note: This parameter is for advanced users

Note: Reboot required after change

Visual odometry camera connection type

Values
Value Meaning 0 None 1 MAVLink 2 IntelT265 3 VOXL(ModalAI)

VISO_POS_X: Visual odometry camera X position offset

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_POS_Y: Visual odometry camera Y position offset

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_POS_Z: Visual odometry camera Z position offset

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 to 5	meters

VISO_ORIENT: Visual odometery camera orientation

Note: This parameter is for advanced users

Visual odometery camera orientation

Values
Value Meaning 0 Forward 2 Right 4 Back 6 Left 24 Up 25 Down

VISO_SCALE: Visual odometry scaling factor

Note: This parameter is for advanced users

Visual odometry scaling factor applied to position estimates from sensor

VISO_DELAY_MS: Visual odometry sensor delay

Note: This parameter is for advanced users

Visual odometry sensor delay relative to inertial measurements

Range	Units
0 to 250	milliseconds

VISO_VEL_M_NSE: Visual odometry velocity measurement noise

Note: This parameter is for advanced users

Visual odometry velocity measurement noise in m/s

Range	Units
0.05 to 5.0	meters per second

VISO_POS_M_NSE: Visual odometry position measurement noise

Note: This parameter is for advanced users

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 to 10.0	meters

VISO_YAW_M_NSE: Visual odometry yaw measurement noise

Note: This parameter is for advanced users

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 to 1.0	radians

VTX_ Parameters

VTX_ENABLE: Is the Video Transmitter enabled or not

Toggles the Video Transmitter on and off

Values
Value Meaning 0 Disable 1 Enable

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 to 1000

VTX_CHANNEL: Video Transmitter Channel

Video Transmitter Channel

Range
0 to 7

VTX_BAND: Video Transmitter Band

Video Transmitter Band

Values
Value Meaning 0 Band A 1 Band B 2 Band E 3 Airwave 4 RaceBand 5 Low RaceBand

VTX_FREQ: Video Transmitter Frequency

Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL

Range	ReadOnly
5000 to 6000	True

VTX_OPTIONS: Video Transmitter Options

Note: This parameter is for advanced users

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. One stop-bit may be required for VTXs that erroneously mimic iNav behaviour.

Bitmask
Bit Meaning 0 Pitmode 1 Pitmode until armed 2 Pitmode when disarmed 3 Unlocked 4 Add leading zero byte to requests 5 Use 1 stop-bit in SmartAudio 6 Ignore CRC in SmartAudio 7 Ignore status updates in CRSF and blindly set VTX options

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 to 1000

WINCH Parameters

WINCH_TYPE: Winch Type

Winch Type

Values
Value Meaning 0 None 1 PWM 2 Daiwa

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 to 10	meters per second

WINCH_POS_P: Winch control position error P gain

Winch control position error P gain

Range
0.01 to 10.0

WPNAV_ Parameters

WPNAV_SPEED: Waypoint Horizontal Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission

Increment	Range	Units
50	20 to 2000	centimeters per second

WPNAV_RADIUS: Waypoint Radius

Defines the distance from a waypoint, that when crossed indicates the wp has been hit.

Increment	Range	Units
1	5 to 1000	centimeters

WPNAV_SPEED_UP: Waypoint Climb Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission

Increment	Range	Units
50	10 to 1000	centimeters per second

WPNAV_SPEED_DN: Waypoint Descent Speed Target

Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission

Increment	Range	Units
10	10 to 500	centimeters per second

WPNAV_ACCEL: Waypoint Acceleration

Defines the horizontal acceleration in cm/s/s used during missions

Increment	Range	Units
10	50 to 500	centimeters per square second

WPNAV_ACCEL_Z: Waypoint Vertical Acceleration

Defines the vertical acceleration in cm/s/s used during missions

Increment	Range	Units
10	50 to 500	centimeters per square second

WPNAV_RFND_USE: Waypoint missions use rangefinder for terrain following

Note: This parameter is for advanced users

This controls if waypoint missions use rangefinder for terrain following

Values
Value Meaning 0 Disable 1 Enable

WPNAV_JERK: Waypoint Jerk

Defines the horizontal jerk in m/s/s used during missions

Range	Units
1 to 20	meters per cubic second

WPNAV_TER_MARGIN: Waypoint Terrain following altitude margin

Note: This parameter is for advanced users

Waypoint Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)

Range	Units
0.1 to 100	meters

WPNAV_ACCEL_C: Waypoint Cornering Acceleration

Defines the maximum cornering acceleration in cm/s/s used during missions, zero uses max lean angle.

Increment	Range	Units
10	0 to 500	centimeters per square second

WVANE_ Parameters

WVANE_ENABLE: Enable

Enable weather vaning. When active, the aircraft will automatically yaw into wind when in a VTOL position controlled mode. Pilot yaw commands overide the weathervaning action.

Values
Value Meaning -1 Only use during takeoffs or landing see weathervane takeoff and land override parameters 0 Disabled 1 Nose into wind 2 Nose or tail into wind 3 Side into wind 4 tail into wind

WVANE_GAIN: Weathervaning gain

This converts the target roll/pitch angle of the aircraft into the correcting (into wind) yaw rate. e.g. Gain = 2, roll = 30 deg, pitch = 0 deg, yaw rate = 60 deg/s.

Increment	Range
0.1	0.5 to 4

WVANE_ANG_MIN: Weathervaning min angle

The minimum target roll/pitch angle before active weathervaning will start. This provides a dead zone that is particularly useful for poorly trimmed quadplanes.

Increment	Range	Units
0.1	0 to 10	degrees

WVANE_HGT_MIN: Weathervaning min height

Above this height weathervaning is permitted. If a range finder is fitted or if terrain is enabled, this parameter sets height AGL. Otherwise, this parameter sets height above home. Set zero to ignore minimum height requirement to activate weathervaning.

Increment	Range	Units
1	0 to 50	meters

WVANE_SPD_MAX: Weathervaning max ground speed

Below this ground speed weathervaning is permitted. Set to 0 to ignore this condition when checking if vehicle should weathervane.

Increment	Range	Units
0.1	0 to 50	meters per second

WVANE_VELZ_MAX: Weathervaning max vertical speed

The maximum climb or descent speed that the vehicle will still attempt to weathervane. Set to 0 to ignore this condition to get the aircraft to weathervane at any climb/descent rate. This is particularly useful for aircraft with low disc loading that struggle with yaw control in decent.

Increment	Range	Units
0.1	0 to 5	meters per second

WVANE_TAKEOFF: Takeoff override

Override the weather vaning behaviour when in takeoffs

Values
Value Meaning -1 No override 0 Disabled 1 Nose into wind 2 Nose or tail into wind 3 Side into wind 4 tail into wind

WVANE_LAND: Landing override

Override the weather vaning behaviour when in landing

Values
Value Meaning -1 No override 0 Disabled 1 Nose into wind 2 Nose or tail into wind 3 Side into wind 4 tail into wind

WVANE_OPTIONS: Weathervaning options

Options impacting weathervaning behaviour

Bitmask
Bit Meaning 0 Use pitch when nose or tail-in for faster weathervaning

ZIGZ_ Parameters

ZIGZ_AUTO_ENABLE: ZigZag auto enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) ZigZag auto feature

Values
Value Meaning 0 Disabled 1 Enabled

ZIGZ_SPRAYER: Auto sprayer in ZigZag

Note: This parameter is for advanced users

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
Value Meaning 0 Disabled 1 Enabled

ZIGZ_WP_DELAY: The delay for zigzag waypoint

Note: This parameter is for advanced users

Waiting time after reached the destination

Range	Units
0 to 127	seconds

ZIGZ_SIDE_DIST: Sideways distance in ZigZag auto

Note: This parameter is for advanced users

The distance to move sideways in ZigZag mode

Range	Units
0.1 to 100	meters

ZIGZ_DIRECTION: Sideways direction in ZigZag auto

Note: This parameter is for advanced users

The direction to move sideways in ZigZag mode

Values
Value Meaning 0 forward 1 right 2 backward 3 left

ZIGZ_LINE_NUM: Total number of lines

Note: This parameter is for advanced users

Total number of lines for ZigZag auto if 1 or more. -1: Infinity, 0: Just moving to sideways

Range
-1 to 32767