Complete Parameter List

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.

AP_Periph 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

CAN_NODE: DroneCAN node ID used by this node on all networks

Note: This parameter is for advanced users

Note: Reboot required after change

Value of 0 requests any ID from a DNA server, any other value sets that ID ignoring DNA

Range
0 to 127

CAN_BAUDRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Note: Reboot required after change

Bit rate can be set up to from 10000 to 1000000

Range
10000 to 1000000

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_TERMINATE: Enable CAN software termination in this node

Note: This parameter is for advanced users

Note: Reboot required after change

Enable CAN software termination in this node

Values
Value Meaning 0 Disabled 1 Enabled

CAN_PROTOCOL: Enable use of specific protocol to be used on this port

Note: This parameter is for advanced users

Note: Reboot required after change

Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN

Values
Value Meaning 0 Disabled 1 UAVCAN 4 PiccoloCAN 6 EFI_NWPMU 7 USD1 8 KDECAN

CAN2_BAUDRATE: Bitrate of CAN2 interface

Note: This parameter is for advanced users

Note: Reboot required after change

Bit rate can be set up to from 10000 to 1000000

Range
10000 to 1000000

CAN2_PROTOCOL: Enable use of specific protocol to be used on this port

Note: This parameter is for advanced users

Note: Reboot required after change

Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN

Values
Value Meaning 0 Disabled 1 UAVCAN 4 PiccoloCAN 6 EFI_NWPMU 7 USD1 8 KDECAN

CAN2_TERMINATE: Enable CAN software termination in this node

Note: This parameter is for advanced users

Note: Reboot required after change

Enable CAN software termination in this node

Values
Value Meaning 0 Disabled 1 Enabled

CAN3_BAUDRATE: Bitrate of CAN3 interface

Note: This parameter is for advanced users

Note: Reboot required after change

Bit rate can be set up to from 10000 to 1000000

Range
10000 to 1000000

CAN3_PROTOCOL: Enable use of specific protocol to be used on this port

Note: This parameter is for advanced users

Note: Reboot required after change

Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN

Values
Value Meaning 0 Disabled 1 UAVCAN 4 PiccoloCAN 6 EFI_NWPMU 7 USD1 8 KDECAN

CAN3_TERMINATE: Enable CAN software termination in this node

Note: This parameter is for advanced users

Note: Reboot required after change

Enable CAN software termination in this node

Values
Value Meaning 0 Disabled 1 Enabled

CAN_FDMODE: Enable CANFD mode

Note: This parameter is for advanced users

Note: Reboot required after change

Enabling this option sets the CAN bus to be in CANFD mode with BRS.

Values
Value Meaning 0 Disabled 1 Enabled

CAN_FDBAUDRATE: Set up bitrate for data section on CAN1

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the bitrate for the data section of CAN1.

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

CAN2_FDBAUDRATE: Set up bitrate for data section on CAN2

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the bitrate for the data section of CAN2.

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

FLASH_BOOTLOADER: Trigger bootloader update

Note: This parameter is for advanced users

DANGER! When enabled, the App will perform a bootloader update by copying the embedded bootloader over the existing bootloader. This may take a few seconds to perform and should only be done if you know what you're doing.

Range
0 to 1

DEBUG: Debug

Note: This parameter is for advanced users

Debug

Bitmask
Bit Meaning 0 Show free stack space 1 Auto Reboot after 15sec 2 Enable sending stats

BRD_SERIAL_NUM: Serial number of device

Note: This parameter is for advanced users

Non-zero positive values will be shown on the CAN App Name string

Range
0 to 2147483648

BUZZER_VOLUME: Buzzer volume

Note: This parameter is for advanced users

Control the volume of the buzzer

Increment	Range	Units
1	0 to 100	percent

GPS_PORT: GPS Serial Port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to GPS.

Increment	Range
1	0 to 10

MB_CAN_PORT: Moving Baseline CAN Port option

Note: This parameter is for advanced users

Note: Reboot required after change

Autoselect dedicated CAN port on which moving baseline data will be transmitted.

Values
Value Meaning 0 Sends moving baseline data on all ports 1 auto select remaining port for transmitting Moving baseline Data

BATT_HIDE_MASK: Battery hide mask

Note: This parameter is for advanced users

Instance mask of local battery index(es) to prevent transmitting their status over CAN. This is useful for hiding a "battery" instance that is used locally in the peripheral but don't want them to be treated as a battery source(s) to the autopilot. For example, an AP_Periph battery monitor with multiple batteries that monitors each locally for diagnostic or other purposes, but only reports as a single SUM battery monitor to the autopilot.

Bitmask
Bit Meaning 0 BATT 1 BATT2 2 BATT3 3 BATT4 4 BATT5 5 BATT6 6 BATT7 7 BATT8 8 BATT9 9 BATTA 10 BATTB 11 BATTC 12 BATTD 13 BATTE 14 BATTF 15 BATTG

BARO_ENABLE: Barometer Enable

Barometer Enable

Values
Value Meaning 0 Disabled 1 Enabled

LED_BRIGHTNESS: LED Brightness

Select the RGB LED brightness level.

Increment	Range	Units
1	0 to 100	percent

RNGFND_BAUDRATE: Rangefinder serial baudrate

Note: Reboot required after change

Rangefinder serial baudrate.

Increment	Values
1	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

RNGFND_PORT: Rangefinder Serial Port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to Rangefinder.

Increment	Range
1	0 to 10

RNGFND2_BAUDRATE: Rangefinder serial baudrate

Note: Reboot required after change

Rangefinder serial baudrate.

Increment	Values
1	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

RNGFND2_PORT: Rangefinder Serial Port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to Rangefinder.

Increment	Range
1	0 to 10

RNGFND_MAX_RATE: Rangefinder max rate

Note: This parameter is for advanced users

This is the maximum rate we send rangefinder data in Hz. Zero means no limit

Increment	Range	Units
1	0 to 200	hertz

ADSB_BAUDRATE: ADSB serial baudrate

Note: Reboot required after change

ADSB serial baudrate.

Increment	Values
1	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

ADSB_PORT: ADSB Serial Port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to ADSB.

Increment	Range
1	0 to 10

HARDPOINT_ID: Hardpoint ID

Note: This parameter is for advanced users

Hardpoint ID

HARDPOINT_RATE: Hardpoint PWM rate

Note: This parameter is for advanced users

Hardpoint PWM rate

Increment	Range	Units
1	10 to 100	hertz

ESC_NUMBER: ESC number

Note: This parameter is for advanced users

This is the ESC number to report as in UAVCAN ESC telemetry feedback packets.

Increment
1

ESC_RATE: ESC Update Rate

Note: This parameter is for advanced users

Rate in Hz that ESC PWM outputs (function is MotorN) will update at

Increment	Range	Units
1	50 to 400	hertz

ESC_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 1 Normal 2 OneShot 3 OneShot125 4 Brushed 5 DShot150 6 DShot300 7 DShot600 8 DShot1200

ESC_CMD_TIMO: ESC Command Timeout

Note: This parameter is for advanced users

This is the duration (ms) with which to hold the last driven ESC command before timing out and zeroing the ESC outputs. To disable zeroing of outputs in event of CAN loss, use 0. Use values greater than the expected duration between two CAN frames to ensure Periph is not starved of ESC Raw Commands.

Range	Units
0 to 10000	milliseconds

ESC_TELEM_PORT: ESC Telemetry Serial Port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry

Increment	Range
1	0 to 10

ESC_TELEM_RATE: ESC Telemetry update rate

Note: This parameter is for advanced users

Note: Reboot required after change

This is the rate at which ESC Telemetry will be sent across the CAN bus

Increment	Range
1	0 to 1000

MSP_PORT: MSP Serial Port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to MSP

Increment	Range
1	0 to 10

LOG_BITMASK: Log bitmask

4 byte bitmap of log types to enable

Bitmask
Bit Meaning 2 GPS

EFI_BAUDRATE: EFI serial baudrate

Note: Reboot required after change

EFI serial baudrate.

Increment	Values
1	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

EFI_PORT: EFI Serial Port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to EFI.

Increment	Range
1	0 to 10

PRX_BAUDRATE: Proximity Sensor serial baudrate

Note: Reboot required after change

Proximity Sensor serial baudrate.

Increment	Values
1	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

PRX_PORT: Proximity Sensor Serial Port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to Proximity Sensor.

Increment	Range
1	0 to 10

PRX_MAX_RATE: Proximity Sensor max rate

Note: This parameter is for advanced users

This is the maximum rate we send Proximity Sensor data in Hz. Zero means no limit

Increment	Range	Units
1	0 to 200	hertz

ESC_APD_SERIAL_1: ESC APD Serial 1

Note: This parameter is for advanced users

Note: Reboot required after change

Which serial port to use for APD ESC data

Increment	Range
1	0 to 6

ESC_APD_SERIAL_2: ESC APD Serial 2

Note: This parameter is for advanced users

Note: Reboot required after change

Which serial port to use for APD ESC data

Increment	Range
1	0 to 6

CAN_MIRROR_PORTS: CAN ports to mirror traffic between

Note: This parameter is for advanced users

Any set ports will participate in blindly mirroring traffic from one port to the other. It is the users responsibility to ensure that no loops exist that cause traffic to be infinitly repeated, and both ports must be running the same baud rates.

Bitmask
Bit Meaning 0 CAN1 1 CAN2 2 CAN3

TEMP_MSG_RATE: Temperature sensor message rate

This is the rate Temperature sensor data is sent in Hz. Zero means no send. Each sensor with source DroneCAN is sent in turn.

Increment	Range	Units
1	0 to 200	hertz

OPTIONS: AP Periph Options

Bitmask of AP Periph Options

Bitmask
Bit Meaning 0 Enable continuous sensor probe

RPM_MSG_RATE: RPM sensor message rate

This is the rate RPM sensor data is sent in Hz. Zero means no send. Each sensor with a set ID is sent in turn.

Increment	Range	Units
1	0 to 200	hertz

ESC_EXT_TLM_RATE: ESC Extended telemetry message rate

Note: This parameter is for advanced users

This is the rate at which extended ESC Telemetry will be sent across the CAN bus for each ESC

Increment	Range	Units
1	0 to 50	hertz

IMU_SAMPLE_RATE: IMU Sample Rate

IMU Sample Rate

Range
0 to 1000

SRV_CMD_TIME_OUT: Servo Command Timeout

Note: This parameter is for advanced users

This is the duration (ms) with which to hold the last driven servo command before timing out and zeroing the servo outputs. To disable zeroing of outputs in event of CAN loss, use 0. Use values greater than the expected duration between two CAN frames to ensure Periph is not starved of ESC Raw Commands.

Range	Units
0 to 10000	milliseconds

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
0.01	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
0.01	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
0.01	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. A value of zero means to use the airspeed as is. This allows the plane to cope with a failing airspeed sensor by clipping it to groundspeed plus/minus this limit. See ARSPD_OPTIONS and ARSPD_WIND_MAX 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
0.01	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 10 Sim 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

AHRS_OPTIONS: Optional AHRS behaviour

Note: This parameter is for advanced users

This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency

Bitmask
Bit Meaning 0 DisableDCMFallbackFW 1 DisableDCMFallbackVTOL 2 DontDisableAirspeedUsingEKF

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

Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3), 4:Report cal offset to GCS

Bitmask
Bit Meaning 0 SpeedMismatchDisable 1 AllowSpeedMismatchRecovery 2 DisableVoltageCorrection 3 UseEkf3Consistency 4 ReportOffset

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference

Note: This parameter is for advanced users

If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTIONS this health value can be used to disable the sensor.

Units
meters per second

ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning

Note: This parameter is for advanced users

If the difference between airspeed and GPS speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.

Units
meters per second

ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size

Note: This parameter is for advanced users

Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log message by setting ARSPD_WIND_GATE to a value that is higher than the value for ARSP.TR observed with a healthy airspeed sensor. Occasional transients in ARSP.TR above the value set by ARSPD_WIND_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10% duty cycle.

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 calibrations before a warning is issued. This potential speed error is in percent of AIRSPEED_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 16 ExternalAHRS 17 AUAV-10in 18 AUAV-5in 19 AUAV-30in 100 SITL

ARSPD2_USE: Airspeed use

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

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. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

ARSPD2_AUTOCAL: Automatic airspeed ratio calibration

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 or requiring a manual 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 Do not require offset calibration before flight. Manual calibration should be performed during initial setup. 2 Do not calibrate on start up. Manual calibration must be performed once per boot.

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 16 ExternalAHRS 17 AUAV-10in 18 AUAV-5in 19 AUAV-30in 100 SITL

ARSPD_USE: Airspeed use

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

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. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

ARSPD_AUTOCAL: Automatic airspeed ratio calibration

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 or requiring a manual 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 Do not require offset calibration before flight. Manual calibration should be performed during initial setup. 2 Do not calibrate on start up. Manual calibration must be performed once per boot.

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

BAL Parameters

BAL_NUM_CELLS: Number of battery cells

Number of battery cells to monitor

Range
0 to 64

BAL_ID: Battery ID

Battery ID to match against other batteries

Range
0 to 127

BAL_RATE: Send Rate

Rate to send cell information

Range
0 to 20

BAL_CELL1_PIN: First analog pin

Analog pin of the first cell. Later cells must be sequential

Range
0 to 127

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 13 BMP581 14 AUAV

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_THST_SCALE: Thrust compensation

Note: This parameter is for advanced users

Thrust scaling in Pascals. This value scaled by the normalized thrust is subtracted from the barometer pressure. This is used to adjust linearly based on the thrust output for local pressure difference induced by the props.

Range
-300 to 300

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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT2_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT2_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT2_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT2_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT2_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT2_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT2_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT2_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT2_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT2_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT2_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT2_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT2_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT2_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT2_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT2_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT2_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT2_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT2_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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_ 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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT3_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT3_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT3_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT3_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT3_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT3_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT3_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT3_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT3_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT3_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT3_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT3_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT3_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT3_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT3_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT3_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT3_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT3_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT3_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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_ 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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT4_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT4_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT4_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT4_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT4_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT4_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT4_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT4_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT4_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT4_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT4_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT4_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT4_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT4_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT4_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT4_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT4_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT4_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT4_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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_ 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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT5_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT5_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT5_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT5_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT5_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT5_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT5_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT5_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT5_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT5_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT5_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT5_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT5_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT5_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT5_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT5_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT5_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT5_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT5_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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_ 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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT6_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT6_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT6_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT6_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT6_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT6_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT6_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT6_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT6_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT6_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT6_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT6_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT6_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT6_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT6_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT6_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT6_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT6_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT6_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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_ 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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT7_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT7_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT7_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT7_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT7_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT7_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT7_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT7_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT7_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT7_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT7_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT7_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT7_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT7_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT7_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT7_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT7_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT7_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT7_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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_ 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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT8_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT8_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT8_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT8_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT8_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT8_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT8_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT8_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT8_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT8_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT8_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT8_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT8_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT8_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT8_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT8_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT8_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT8_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT8_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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_ 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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT9_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT9_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT9_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT9_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT9_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT9_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT9_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT9_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT9_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT9_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT9_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT9_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT9_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT9_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT9_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT9_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT9_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT9_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT9_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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

BATTA_ Parameters

BATTA_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 28 AD7091R5 29 Scripting 30 INA3221

BATTA_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTA_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.

BATTA_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

BATTA_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

BATTA_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 BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTA_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 BATTA_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTA_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 BATTA_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTA_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTA_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 BATTA_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTA_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

BATTA_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 BATTA_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTA_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTA_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTA_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTA_CURR_PIN (AP_BattMonitor_Analog): 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

BATTA_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTA_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.

BATTA_AMP_PERVLT (AP_BattMonitor_Analog): 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

BATTA_AMP_OFFSET (AP_BattMonitor_Analog): 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

BATTA_VLT_OFFSET (AP_BattMonitor_Analog): 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

BATTA_I2C_BUS (AP_BattMonitor_SMBus): 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

BATTA_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTA_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

BATTA_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
0.1 to 10

BATTA_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

BATTA_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

BATTA_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

BATTA_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTA_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTA_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTA_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTA_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTA_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

BATTA_I2C_BUS (AP_BattMonitor_INA2xx): 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

BATTA_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTA_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTA_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTA_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATTA_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTA_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTA_I2C_BUS (AP_BattMonitor_INA3221): 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

BATTA_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTA_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTA_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTA_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTA_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTA_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTA_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTA_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTA_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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

BATTB_ Parameters

BATTB_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 28 AD7091R5 29 Scripting 30 INA3221

BATTB_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTB_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.

BATTB_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

BATTB_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

BATTB_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 BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTB_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 BATTB_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTB_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 BATTB_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTB_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTB_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 BATTB_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTB_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

BATTB_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 BATTB_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTB_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTB_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTB_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTB_CURR_PIN (AP_BattMonitor_Analog): 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

BATTB_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTB_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.

BATTB_AMP_PERVLT (AP_BattMonitor_Analog): 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

BATTB_AMP_OFFSET (AP_BattMonitor_Analog): 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

BATTB_VLT_OFFSET (AP_BattMonitor_Analog): 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

BATTB_I2C_BUS (AP_BattMonitor_SMBus): 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

BATTB_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTB_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

BATTB_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
0.1 to 10

BATTB_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

BATTB_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

BATTB_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

BATTB_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTB_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTB_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTB_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTB_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTB_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

BATTB_I2C_BUS (AP_BattMonitor_INA2xx): 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

BATTB_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTB_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTB_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTB_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATTB_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTB_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTB_I2C_BUS (AP_BattMonitor_INA3221): 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

BATTB_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTB_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTB_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTB_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTB_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTB_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTB_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTB_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTB_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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

BATTC_ Parameters

BATTC_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 28 AD7091R5 29 Scripting 30 INA3221

BATTC_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTC_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.

BATTC_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

BATTC_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

BATTC_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 BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTC_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 BATTC_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTC_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 BATTC_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTC_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTC_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 BATTC_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTC_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

BATTC_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 BATTC_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTC_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTC_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTC_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTC_CURR_PIN (AP_BattMonitor_Analog): 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

BATTC_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTC_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.

BATTC_AMP_PERVLT (AP_BattMonitor_Analog): 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

BATTC_AMP_OFFSET (AP_BattMonitor_Analog): 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

BATTC_VLT_OFFSET (AP_BattMonitor_Analog): 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

BATTC_I2C_BUS (AP_BattMonitor_SMBus): 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

BATTC_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTC_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

BATTC_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
0.1 to 10

BATTC_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

BATTC_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

BATTC_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

BATTC_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTC_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTC_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTC_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTC_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTC_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

BATTC_I2C_BUS (AP_BattMonitor_INA2xx): 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

BATTC_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTC_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTC_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTC_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATTC_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTC_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTC_I2C_BUS (AP_BattMonitor_INA3221): 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

BATTC_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTC_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTC_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTC_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTC_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTC_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTC_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTC_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTC_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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

BATTD_ Parameters

BATTD_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 28 AD7091R5 29 Scripting 30 INA3221

BATTD_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTD_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.

BATTD_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

BATTD_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

BATTD_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 BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTD_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 BATTD_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTD_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 BATTD_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTD_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTD_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 BATTD_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTD_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

BATTD_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 BATTD_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTD_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTD_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTD_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTD_CURR_PIN (AP_BattMonitor_Analog): 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

BATTD_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTD_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.

BATTD_AMP_PERVLT (AP_BattMonitor_Analog): 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

BATTD_AMP_OFFSET (AP_BattMonitor_Analog): 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

BATTD_VLT_OFFSET (AP_BattMonitor_Analog): 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

BATTD_I2C_BUS (AP_BattMonitor_SMBus): 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

BATTD_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTD_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

BATTD_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
0.1 to 10

BATTD_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

BATTD_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

BATTD_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

BATTD_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTD_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTD_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTD_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTD_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTD_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

BATTD_I2C_BUS (AP_BattMonitor_INA2xx): 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

BATTD_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTD_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTD_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTD_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATTD_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTD_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTD_I2C_BUS (AP_BattMonitor_INA3221): 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

BATTD_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTD_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTD_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTD_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTD_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTD_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTD_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTD_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTD_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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

BATTE_ Parameters

BATTE_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 28 AD7091R5 29 Scripting 30 INA3221

BATTE_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTE_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.

BATTE_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

BATTE_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

BATTE_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 BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTE_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 BATTE_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTE_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 BATTE_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTE_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTE_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 BATTE_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTE_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

BATTE_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 BATTE_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTE_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTE_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTE_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTE_CURR_PIN (AP_BattMonitor_Analog): 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

BATTE_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTE_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.

BATTE_AMP_PERVLT (AP_BattMonitor_Analog): 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

BATTE_AMP_OFFSET (AP_BattMonitor_Analog): 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

BATTE_VLT_OFFSET (AP_BattMonitor_Analog): 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

BATTE_I2C_BUS (AP_BattMonitor_SMBus): 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

BATTE_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTE_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

BATTE_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
0.1 to 10

BATTE_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

BATTE_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

BATTE_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

BATTE_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTE_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTE_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTE_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTE_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTE_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

BATTE_I2C_BUS (AP_BattMonitor_INA2xx): 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

BATTE_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTE_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTE_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTE_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATTE_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTE_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTE_I2C_BUS (AP_BattMonitor_INA3221): 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

BATTE_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTE_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTE_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTE_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTE_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTE_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTE_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTE_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTE_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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

BATTF_ Parameters

BATTF_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 28 AD7091R5 29 Scripting 30 INA3221

BATTF_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTF_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.

BATTF_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

BATTF_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

BATTF_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 BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTF_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 BATTF_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTF_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 BATTF_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTF_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTF_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 BATTF_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTF_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

BATTF_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 BATTF_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTF_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTF_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTF_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTF_CURR_PIN (AP_BattMonitor_Analog): 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

BATTF_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTF_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.

BATTF_AMP_PERVLT (AP_BattMonitor_Analog): 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

BATTF_AMP_OFFSET (AP_BattMonitor_Analog): 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

BATTF_VLT_OFFSET (AP_BattMonitor_Analog): 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

BATTF_I2C_BUS (AP_BattMonitor_SMBus): 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

BATTF_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTF_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

BATTF_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
0.1 to 10

BATTF_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

BATTF_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

BATTF_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

BATTF_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTF_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTF_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTF_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTF_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTF_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

BATTF_I2C_BUS (AP_BattMonitor_INA2xx): 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

BATTF_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTF_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTF_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTF_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATTF_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTF_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTF_I2C_BUS (AP_BattMonitor_INA3221): 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

BATTF_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTF_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTF_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTF_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTF_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTF_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTF_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTF_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTF_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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

BATTG_ Parameters

BATTG_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 28 AD7091R5 29 Scripting 30 INA3221

BATTG_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATTG_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.

BATTG_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

BATTG_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

BATTG_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 BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATTG_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 BATTG_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATTG_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 BATTG_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATTG_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATTG_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 BATTG_FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATTG_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

BATTG_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 BATTG_ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATTG_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATTG_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATTG_VOLT_PIN (AP_BattMonitor_Analog): 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

BATTG_CURR_PIN (AP_BattMonitor_Analog): 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

BATTG_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTG_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.

BATTG_AMP_PERVLT (AP_BattMonitor_Analog): 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

BATTG_AMP_OFFSET (AP_BattMonitor_Analog): 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

BATTG_VLT_OFFSET (AP_BattMonitor_Analog): 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

BATTG_I2C_BUS (AP_BattMonitor_SMBus): 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

BATTG_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 to 127

BATTG_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

BATTG_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
0.1 to 10

BATTG_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

BATTG_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

BATTG_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

BATTG_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

BATTG_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATTG_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATTG_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATTG_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

BATTG_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

BATTG_I2C_BUS (AP_BattMonitor_INA2xx): 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

BATTG_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTG_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATTG_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTG_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATTG_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATTG_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATTG_I2C_BUS (AP_BattMonitor_INA3221): 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

BATTG_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATTG_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATTG_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTG_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATTG_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATTG_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).

BATTG_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATTG_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATTG_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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_ 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 28 AD7091R5 29 Scripting 30 INA3221

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_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 7 Allow DroneCAN InfoAux to be from a different CAN node 8 Battery is for internal autopilot use only 9 Sum monitor measures minimum voltage instead of average 10 Allow DroneCAN dynamic node update on hot-swap

BATT_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment	Range
1	0 to 10

BATT_VOLT_PIN (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_Analog): 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 (AP_BattMonitor_SMBus): 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 (AP_BattMonitor_SMBus): 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
0.1 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.Analog Airspeed or RSSI ports can be used for Analog input( some autopilots provide others also). Values for some autopilots are given as examples. Search wiki for "Analog pins".

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_FL_FF: First order term

Note: This parameter is for advanced users

First order polynomial fit term

Range
-10 to 10

BATT_FL_FS: Second order term

Note: This parameter is for advanced users

Second order polynomial fit term

Range
-10 to 10

BATT_FL_FT: Third order term

Note: This parameter is for advanced users

Third order polynomial fit term

Range
-10 to 10

BATT_FL_OFF: Offset term

Note: This parameter is for advanced users

Offset polynomial fit term

Range
-10 to 10

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

BATT_I2C_BUS (AP_BattMonitor_INA2xx): 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 (AP_BattMonitor_INA2xx): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT_MAX_AMPS (AP_BattMonitor_INA2xx): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INS2XX sensor will work with.

Range	Units
1 to 400	ampere

BATT_SHUNT (AP_BattMonitor_INA2xx): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT_ESC_MASK: ESC mask

If 0 all connected ESCs will be used. If non-zero, only those selected in will be used.

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

BATT_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current

Note: This parameter is for advanced users

This controls the maximum current the INA239 sensor will work with.

Range	Units
1 to 400	ampere

BATT_SHUNT (AP_BattMonitor_INA239): Battery monitor shunt resistor

Note: This parameter is for advanced users

This sets the shunt resistor used in the device

Range	Units
0.0001 to 0.01	Ohm

BATT_I2C_BUS (AP_BattMonitor_INA3221): 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 (AP_BattMonitor_INA3221): Battery monitor I2C address

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range
0 to 127

BATT_CHANNEL: INA3221 channel

Note: This parameter is for advanced users

Note: Reboot required after change

INA3221 channel to return data for

Range
1 to 3

BATT_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for Current monitoring on AD7091R5.

Values
Value Meaning -1 Disabled

BATT_VOLT_MULT (AP_BattMonitor_AD7091R5): 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).

BATT_AMP_PERVLT (AP_BattMonitor_AD7091R5): Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to.

Units
ampere per volt

BATT_AMP_OFFSET (AP_BattMonitor_AD7091R5): AMP offset

Voltage offset at zero current on current sensor

Units
volt

BATT_VLT_OFFSET (AP_BattMonitor_AD7091R5): Volage 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

BTAG Parameters

BTAG_NUM_CYCLES: Number of cycles

Number of cycles the battery has been through

BTAG_ARM_HOURS: Number of armed hours

Number of hours the battery has been armed

BTAG_CAPACITY: Battery capacity

Battery capacity in mAh

BTAG_FIRST_USE: First use time

First use time in minutes since 1/1/1970

BTAG_LAST_USE: Last use time

Last use time in minutes since 1/1/1970

BTAG_SERIAL: Serial number

Serial number

BTAG_CYCLE_MIN: Cycle minimum time

Cycle minimum time. Minimum time that vehicle is armed in minutes for counting a battery cycle

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

Calibration	Increment	Range	Units
1	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 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)

Calibration	Increment	Range	Units
1	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

Calibration	Increment	Range	Units
1	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)

Calibration	Increment	Range	Units
1	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

Calibration	Increment	Range	Units
1	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)

Calibration	Increment	Range	Units
1	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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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]]

Calibration
1

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_DISBLMSK: 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 AK0991x 7 IST8310 8 ICM20948 9 MMC3416 11 DroneCAN 12 QMC5883 14 MAG3110 15 IST8308 16 RM3100 17 MSP 18 ExternalAHRS 19 MMC5XX3 20 QMC5883P 21 BMM350 22 IIS2MDC

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 1 Allow missing DroneCAN compasses to be automaticaly replaced (calibration still required)

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

DAC1_ Parameters

DAC1_TYPE: DAC Type

Note: Reboot required after change

DAC Type

Values
Value Meaning 0 Disabled 1 TIx3204 2 MCP401x

DAC1_BUS: I2C bus

Note: Reboot required after change

I2C bus number

Range
0 to 3

DAC1_ADDR: I2C address

Note: Reboot required after change

I2C address

Range
0 to 127

DAC1_VREF: Voltage reference

Voltage reference

Range
0 to 1000

DAC1_VOLTS: Voltage

Voltage

Range
0 to 1000

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 4 Loweheiser 5 DroneCAN 6 Currawong-ECU 7 Scripting 8 Hirth 9 MAVLink

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

EFI_THRLIN Parameters

EFI_THRLIN_EN: Enable throttle linearisation

Note: This parameter is for advanced users

Enable EFI throttle linearisation

Values
Value Meaning 0 Disabled 1 Enabled

EFI_THRLIN_COEF1: Throttle linearisation - First Order

Note: This parameter is for advanced users

Note: Reboot required after change

First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_COEF2: Throttle linearisation - Second Order

Note: This parameter is for advanced users

Note: Reboot required after change

Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_COEF3: Throttle linearisation - Third Order

Note: This parameter is for advanced users

Note: Reboot required after change

Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)

Range
-1 to 1

EFI_THRLIN_OFS: throttle linearization offset

Note: This parameter is for advanced users

Note: Reboot required after change

Offset for throttle linearization

Range
0 to 100

GPS Parameters

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_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_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_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_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_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 5 Override GPS satellite health of L5 band from L1 health 6 Enable RTCM full parse even for a single channel 7 Disable automatic full RTCM parsing when RTCM seen on more than one channel

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

GPS1_ Parameters

GPS1_TYPE: GPS type

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type

Values
Value Meaning 0 None 1 AUTO 2 uBlox 5 NMEA 6 SiRF 7 HIL 8 SwiftNav 9 DroneCAN 10 Septentrio(SBF) 11 Trimble(GSOF) 13 ERB 14 MAVLink 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 26 Septentrio-DualAntenna(SBF)

GPS1_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

Bitmask for what GNSS system to use (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

GPS1_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

GPS1_POS_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

GPS1_POS_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

GPS1_POS_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

GPS1_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

GPS1_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 and GSOF GPS

Increment	Range	Values
1	0 to 10	Value Meaning 0 COM1(RS232) on GSOF 1 COM2(TTL) on GSOF

GPS1_CAN_NODEID: Detected CAN Node ID for GPS

Note: This parameter is for advanced users

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

ReadOnly
True

GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID

Note: This parameter is for advanced users

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

GPS1_MB_ Parameters

GPS1_MB_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.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Values
Value Meaning 0 Relative to alternate GPS instance 1 RelativeToCustomBase

GPS1_MB_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.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_MB_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.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS1_MB_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.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_ Parameters

GPS2_TYPE: GPS type

Note: This parameter is for advanced users

Note: Reboot required after change

GPS type

Values
Value Meaning 0 None 1 AUTO 2 uBlox 5 NMEA 6 SiRF 7 HIL 8 SwiftNav 9 DroneCAN 10 Septentrio(SBF) 11 Trimble(GSOF) 13 ERB 14 MAVLink 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 26 Septentrio-DualAntenna(SBF)

GPS2_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

Bitmask for what GNSS system to use (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

GPS2_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

GPS2_POS_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

GPS2_POS_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

GPS2_POS_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

GPS2_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

GPS2_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 and GSOF GPS

Increment	Range	Values
1	0 to 10	Value Meaning 0 COM1(RS232) on GSOF 1 COM2(TTL) on GSOF

GPS2_CAN_NODEID: Detected CAN Node ID for GPS

Note: This parameter is for advanced users

GPS Node id for GPS. Detected node unless CAN_OVRIDE is set

ReadOnly
True

GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID

Note: This parameter is for advanced users

GPS Node id for GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.

GPS2_MB_ Parameters

GPS2_MB_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.This is renamed in 4.6 and later to GPSx_MB_TYPE.

Values
Value Meaning 0 Relative to alternate GPS instance 1 RelativeToCustomBase

GPS2_MB_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.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_MB_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.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

Increment	Range	Units
0.01	-5 to 5	meters

GPS2_MB_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.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

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.This is renamed in 4.6 and later to GPSx_MB_TYPE.

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.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

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.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

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.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

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.This is renamed in 4.6 and later to GPSx_MB_TYPE.

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.This is renamed in 4.6 and later to GPSx_MB_OFS_X.

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.This is renamed in 4.6 and later to GPSx_MB_OFS_Y.

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.This is renamed in 4.6 and later to GPSx_MB_OFS_Z.

Increment	Range	Units
0.01	-5 to 5	meters

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 of the Persist bits will save the temperature and/or accelerometer calibration parameters in the bootloader sector on the next update of the bootloader.

Bitmask
Bit Meaning 0 PersistTemps 1 PersistAccels

INS_RAW_LOG_OPT: Raw logging options

Note: This parameter is for advanced users

Raw logging options bitmask

Bitmask
Bit Meaning 0 Log primary gyro only 1 Log all gyros 2 Post filter 3 Pre and post filter

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 harmonic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic 8 9th harmonic 9 10th harmonic 10 11th harmonic 11 12th harmonic 12 13th harmonic 13 14th harmonic 14 15th harmonic 15 16th 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 harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range	Values
0 to 5	Value Meaning 0 Fixed 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. Multi-Source 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 Multi-Source 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch 5 Use min freq on RPM source failure

INS_HNTC2_FM_RAT: Throttle notch min frequency 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_HNTC3_ Parameters

INS_HNTC3_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTC3_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_HNTC3_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_HNTC3_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_HNTC3_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 harmonic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic 8 9th harmonic 9 10th harmonic 10 11th harmonic 11 12th harmonic 12 13th harmonic 13 14th harmonic 14 15th harmonic 15 16th harmonic

INS_HNTC3_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_HNTC3_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 harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range	Values
0 to 5	Value Meaning 0 Fixed 1 Throttle 2 RPM Sensor 3 ESC Telemetry 4 Dynamic FFT 5 Second RPM Sensor

INS_HNTC3_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. Multi-Source 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 Multi-Source 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch 5 Use min freq on RPM source failure

INS_HNTC3_FM_RAT: Throttle notch min frequency 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_HNTC4_ Parameters

INS_HNTC4_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values
Value Meaning 0 Disabled 1 Enabled

INS_HNTC4_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_HNTC4_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_HNTC4_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_HNTC4_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 harmonic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic 8 9th harmonic 9 10th harmonic 10 11th harmonic 11 12th harmonic 12 13th harmonic 13 14th harmonic 14 15th harmonic 15 16th harmonic

INS_HNTC4_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_HNTC4_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 harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range	Values
0 to 5	Value Meaning 0 Fixed 1 Throttle 2 RPM Sensor 3 ESC Telemetry 4 Dynamic FFT 5 Second RPM Sensor

INS_HNTC4_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. Multi-Source 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 Multi-Source 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch 5 Use min freq on RPM source failure

INS_HNTC4_FM_RAT: Throttle notch min frequency 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 harmonic 4 5th harmonic 5 6th harmonic 6 7th harmonic 7 8th harmonic 8 9th harmonic 9 10th harmonic 10 11th harmonic 11 12th harmonic 12 13th harmonic 13 14th harmonic 14 15th harmonic 15 16th 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 harmonic notch cannot be used on fixed wing only planes. It can for Copters, QuaadPlane(while in VTOL modes), and Rovers.

Range	Values
0 to 5	Value Meaning 0 Fixed 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. Multi-Source 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 Multi-Source 2 Update at loop rate 3 EnableOnAllIMUs 4 Triple notch 5 Use min freq on RPM source failure

INS_HNTCH_FM_RAT: Throttle notch min frequency 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

KDE_ Parameters

KDE_NPOLE: Number of motor poles

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

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: Logging File and Block Backend buffer size max (in kibibytes)

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 but increases memory usage. This buffer size may be reduced to free up available memory

Range	Units
4 to 200	kibibytes

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
2 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 block 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

LOG_MAX_FILES: Maximum number of log files

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the maximum number of log file that will be written on dataflash or sd card before starting to rotate log number. Limit is capped at 500 logs.

Increment	Range
1	2 to 500

MAV Parameters

MAV_SYSID: 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

MAV_GCS_SYSID: My ground station number

Note: This parameter is for advanced users

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

Increment	Range
1	1 to 255

MAV_OPTIONS: MAVLink Options

Note: This parameter is for advanced users

Alters various behaviour of the MAVLink interface

Bitmask
Bit Meaning 0 Accept MAVLink only from SYSID_GCS

MAV_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

MAV1 Parameters

MAV1_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV1_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

MAV1_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

MAV1_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV1_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

MAV1_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV1_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
1	0 to 50

MAV1_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV1_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

MAV1_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

MAV1_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV10 Parameters

MAV10_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV10_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

MAV10_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

MAV10_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV10_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

MAV10_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV10_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
1	0 to 50

MAV10_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV10_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

MAV10_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

MAV10_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV2 Parameters

MAV2_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV2_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

MAV2_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

MAV2_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV2_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

MAV2_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV2_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
1	0 to 50

MAV2_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV2_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

MAV2_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

MAV2_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV3 Parameters

MAV3_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV3_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

MAV3_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

MAV3_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV3_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

MAV3_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV3_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
1	0 to 50

MAV3_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV3_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

MAV3_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

MAV3_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV4 Parameters

MAV4_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV4_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

MAV4_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

MAV4_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV4_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

MAV4_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV4_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
1	0 to 50

MAV4_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV4_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

MAV4_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

MAV4_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV5 Parameters

MAV5_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV5_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

MAV5_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

MAV5_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV5_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

MAV5_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV5_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
1	0 to 50

MAV5_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV5_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

MAV5_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

MAV5_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV6 Parameters

MAV6_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV6_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

MAV6_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

MAV6_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV6_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

MAV6_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV6_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
1	0 to 50

MAV6_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV6_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

MAV6_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

MAV6_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV7 Parameters

MAV7_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV7_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

MAV7_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

MAV7_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV7_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

MAV7_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV7_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
1	0 to 50

MAV7_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV7_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

MAV7_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

MAV7_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV8 Parameters

MAV8_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV8_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

MAV8_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

MAV8_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV8_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

MAV8_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV8_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
1	0 to 50

MAV8_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV8_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

MAV8_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

MAV8_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

MAV9 Parameters

MAV9_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, SCALED_PRESSURE3 and AIRSPEED

Increment	Range	Units
1	0 to 50	hertz

MAV9_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

MAV9_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

MAV9_RAW_CTRL: Raw Control stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Raw Control stream rate of SERVO_OUT

Increment	Range	Units
1	0 to 50	hertz

MAV9_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

MAV9_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, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

Increment	Range	Units
1	0 to 50	hertz

MAV9_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
1	0 to 50

MAV9_EXTRA3: Extra data type 3 stream rate

Note: This parameter is for advanced users

Note: Reboot required after change

MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

Increment	Range	Units
1	0 to 50	hertz

MAV9_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

MAV9_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

MAV9_OPTIONS: Bitmask for configuring this telemetry channel

Note: Reboot required after change

Bitmask for configuring this telemetry channel. For having effect on all channels, set the relevant mask in all MAVx_OPTIONS parameters. Keep in mind that part of the flags may require a reboot to take action.

Bitmask
Bit Meaning 1 Don’t forward mavlink to/from 2 Ignore Streamrate

NET_ Parameters

NET_PPP_PORT: PPP serial port

PPP serial port

Range
-1 to 10

NET_PPP_BAUD: PPP serial baudrate

PPP serial baudrate

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_P1_ Parameters

NET_P1_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P1_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P1_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P1_IP Parameters

NET_P1_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P1_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P1_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P1_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P2_ Parameters

NET_P2_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P2_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P2_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P2_IP Parameters

NET_P2_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P2_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P2_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P2_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P3_ Parameters

NET_P3_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P3_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P3_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P3_IP Parameters

NET_P3_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P3_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P3_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P3_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P4_ Parameters

NET_P4_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P4_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P4_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P4_IP Parameters

NET_P4_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P4_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P4_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P4_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P5_ Parameters

NET_P5_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P5_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P5_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P5_IP Parameters

NET_P5_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P5_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P5_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P5_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P6_ Parameters

NET_P6_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P6_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P6_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P6_IP Parameters

NET_P6_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P6_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P6_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P6_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P7_ Parameters

NET_P7_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P7_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P7_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P7_IP Parameters

NET_P7_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P7_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P7_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P7_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P8_ Parameters

NET_P8_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P8_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P8_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P8_IP Parameters

NET_P8_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P8_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P8_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P8_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_P9_ Parameters

NET_P9_TYPE: Port type

Note: This parameter is for advanced users

Note: Reboot required after change

Port type for network serial port. For the two client types a valid destination IP address must be set. For the two server types either 0.0.0.0 or a local address can be used. The UDP client type will use broadcast if the IP is set to 255.255.255.255 and will use UDP multicast if the IP is in the multicast address range.

Values
Value Meaning 0 Disabled 1 UDP client 2 UDP server 3 TCP client 4 TCP server

NET_P9_PROTOCOL: Protocol

Note: This parameter is for advanced users

Note: Reboot required after change

Networked serial port protocol

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

NET_P9_PORT: Port number

Note: This parameter is for advanced users

Note: Reboot required after change

Port number

Range
0 to 65535

NET_P9_IP Parameters

NET_P9_IP0: IPv4 Address 1st byte

Note: Reboot required after change

IPv4 address. Example: 192.xxx.xxx.xxx

Range
0 to 255

NET_P9_IP1: IPv4 Address 2nd byte

Note: Reboot required after change

IPv4 address. Example: xxx.168.xxx.xxx

Range
0 to 255

NET_P9_IP2: IPv4 Address 3rd byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.144.xxx

Range
0 to 255

NET_P9_IP3: IPv4 Address 4th byte

Note: Reboot required after change

IPv4 address. Example: xxx.xxx.xxx.14

Range
0 to 255

NET_PASS1_ Parameters

NET_PASS1_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS1_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS1_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS1_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS1_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS1_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS1_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS2_ Parameters

NET_PASS2_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS2_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS2_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS2_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS2_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS2_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS2_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS3_ Parameters

NET_PASS3_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS3_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS3_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS3_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS3_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS3_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS3_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS4_ Parameters

NET_PASS4_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS4_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS4_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS4_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS4_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS4_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS4_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS5_ Parameters

NET_PASS5_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS5_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS5_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS5_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS5_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS5_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS5_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS6_ Parameters

NET_PASS6_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS6_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS6_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS6_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS6_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS6_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS6_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS7_ Parameters

NET_PASS7_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS7_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS7_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS7_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS7_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS7_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS7_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS8_ Parameters

NET_PASS8_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS8_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS8_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS8_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS8_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS8_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS8_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS9_ Parameters

NET_PASS9_ENABLE: Enable Passthrough

Note: This parameter is for advanced users

Note: Reboot required after change

Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.

Values
Value Meaning 0 Disabled 1 Enabled

NET_PASS9_EP1: Endpoint 1

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 1. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 2.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS9_EP2: Endpoint 2

Note: This parameter is for advanced users

Note: Reboot required after change

Passthrough Endpoint 2. This can be a serial port UART, a Network port, or a CAN port. The selected port will route to Endport 1.

Values

Value Meaning -1 Disabled 0 Serial0(usually USB) 1 Serial1 2 Serial2 3 Serial3 4 Serial4 5 Serial5 6 Serial6 7 Serial7 8 Serial8 9 Serial9 21 Network Port1 22 Network Port2 23 Network Port3 24 Network Port4 25 Network Port5 26 Network Port6 27 Network Port7 28 Network Port8 29 Network Port9 41 CAN1 Port1 42 CAN1 Port2 43 CAN1 Port3 44 CAN1 Port4 45 CAN1 Port5 46 CAN1 Port6 47 CAN1 Port7 48 CAN1 Port8 49 CAN1 Port9 51 CAN2 Port1 52 CAN2 Port2 53 CAN2 Port3 54 CAN2 Port4 55 CAN2 Port5 56 CAN2 Port6 57 CAN2 Port7 58 CAN2 Port8 59 CAN2 Port9

NET_PASS9_BAUD1: Endpoint 1 Baud Rate

The baud rate used for Endpoint 1. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS9_BAUD2: Endpoint 2 Baud Rate

The baud rate used for Endpoint 2. Only applies to serial ports.

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

NET_PASS9_OPT1: Serial Port Options EP1

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 1. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

NET_PASS9_OPT2: Serial Port Options EP2

Note: This parameter is for advanced users

Note: Reboot required after change

Control over UART options for Endpoint 2. Only applies to serial ports.

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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 15 IS31FL3195 External 16 IS31FL3195 Internal 17 DiscreteRGB 18 NeoPixelRGB 19 ProfiLED_IOMCU

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

Node Parameters

Node_BOOTCNT: Boot Count

Number of times board has been booted

ReadOnly
True

Node_FLTTIME: Total FlightTime

Total FlightTime (seconds)

ReadOnly	Units
True	seconds

Node_RUNTIME: Total RunTime

Total time autopilot has run

ReadOnly	Units
True	seconds

Node_RESET: Statistics Reset Time

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics, other set values will be ignored)

ReadOnly	Units
True	seconds

OUT Parameters

OUT_RATE: Servo default output rate

Note: This parameter is for advanced users

Default output rate in Hz for all PWM outputs.

Range	Units
25 to 400	hertz

OUT_DSHOT_RATE: Servo DShot output rate

Note: This parameter is for advanced users

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

OUT_DSHOT_ESC: Servo DShot ESC type

Note: This parameter is for advanced users

DShot ESC type for all outputs. The ESC type affects the range of DShot commands available and the bit widths used. None means that no dshot commands will be executed. Some ESC types support Extended DShot Telemetry (EDT) which allows telemetry other than RPM data to be returned when using bi-directional dshot. If you enable EDT you must install EDT capable firmware for correct operation.

Values
Value Meaning 0 None 1 BLHeli32/Kiss/AM32 2 BLHeli_S/BlueJay 3 BLHeli32/AM32/Kiss+EDT 4 BLHeli_S/BlueJay+EDT

OUT_GPIO_MASK: Servo GPIO mask

Note: This parameter is for advanced users

Note: Reboot required after change

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

OUT_RC_FS_MSK: Servo RC Failsafe Mask

Note: This parameter is for advanced users

Bitmask of scaled passthru output channels which will be set to their trim value during rc failsafe instead of holding their last position before failsafe.

Bitmask
Bit Meaning 0 RCIN1Scaled 1 RCIN2Scaled 2 RCIN3Scaled 3 RCIN4Scaled 4 RCIN5Scaled 5 RCIN6Scaled 6 RCIN7Scaled 7 RCIN8Scaled 8 RCIN9Scaled 9 RCIN10Scaled 10 RCIN11Scaled 11 SRCIN12Scaled 12 RCIN13Scaled 13 RCIN14Scaled 14 RCIN15Scaled 15 RCIN16Scaled

OUT_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

OUT10_ Parameters

OUT10_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

OUT10_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

OUT10_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

OUT10_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

OUT10_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT11_ Parameters

OUT11_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

OUT11_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

OUT11_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

OUT11_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

OUT11_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT12_ Parameters

OUT12_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

OUT12_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

OUT12_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

OUT12_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

OUT12_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT13_ Parameters

OUT13_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

OUT13_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

OUT13_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

OUT13_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

OUT13_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT14_ Parameters

OUT14_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

OUT14_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

OUT14_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

OUT14_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

OUT14_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT15_ Parameters

OUT15_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

OUT15_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

OUT15_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

OUT15_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

OUT15_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT16_ Parameters

OUT16_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

OUT16_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

OUT16_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

OUT16_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

OUT16_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT17_ Parameters

OUT17_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

OUT17_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

OUT17_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

OUT17_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

OUT17_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT18_ Parameters

OUT18_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

OUT18_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

OUT18_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

OUT18_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

OUT18_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT19_ Parameters

OUT19_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

OUT19_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

OUT19_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

OUT19_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

OUT19_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT1_ Parameters

OUT1_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

OUT1_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

OUT1_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

OUT1_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

OUT1_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT20_ Parameters

OUT20_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

OUT20_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

OUT20_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

OUT20_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

OUT20_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT21_ Parameters

OUT21_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

OUT21_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

OUT21_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

OUT21_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

OUT21_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT22_ Parameters

OUT22_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

OUT22_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

OUT22_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

OUT22_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

OUT22_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT23_ Parameters

OUT23_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

OUT23_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

OUT23_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

OUT23_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

OUT23_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT24_ Parameters

OUT24_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

OUT24_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

OUT24_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

OUT24_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

OUT24_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT25_ Parameters

OUT25_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

OUT25_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

OUT25_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

OUT25_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

OUT25_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT26_ Parameters

OUT26_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

OUT26_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

OUT26_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

OUT26_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

OUT26_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT27_ Parameters

OUT27_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

OUT27_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

OUT27_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

OUT27_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

OUT27_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT28_ Parameters

OUT28_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

OUT28_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

OUT28_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

OUT28_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

OUT28_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT29_ Parameters

OUT29_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

OUT29_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

OUT29_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

OUT29_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

OUT29_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT2_ Parameters

OUT2_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

OUT2_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

OUT2_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

OUT2_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

OUT2_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT30_ Parameters

OUT30_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

OUT30_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

OUT30_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

OUT30_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

OUT30_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT31_ Parameters

OUT31_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

OUT31_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

OUT31_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

OUT31_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

OUT31_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT32_ Parameters

OUT32_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

OUT32_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

OUT32_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

OUT32_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

OUT32_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT3_ Parameters

OUT3_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

OUT3_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

OUT3_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

OUT3_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

OUT3_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT4_ Parameters

OUT4_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

OUT4_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

OUT4_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

OUT4_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

OUT4_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT5_ Parameters

OUT5_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

OUT5_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

OUT5_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

OUT5_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

OUT5_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT6_ Parameters

OUT6_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

OUT6_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

OUT6_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

OUT6_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

OUT6_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT7_ Parameters

OUT7_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

OUT7_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

OUT7_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

OUT7_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

OUT7_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT8_ Parameters

OUT8_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

OUT8_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

OUT8_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

OUT8_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

OUT8_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT9_ Parameters

OUT9_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

OUT9_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

OUT9_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

OUT9_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

OUT9_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 2 Flap 3 FlapAuto 4 Aileron 6 Mount1Yaw 7 Mount1Pitch 8 Mount1Roll 9 Mount1Retract 10 CameraTrigger 12 Mount2Yaw 13 Mount2Pitch 14 Mount2Roll 15 Mount2Retract 16 DifferentialSpoilerLeft1 17 DifferentialSpoilerRight1 19 Elevator 21 Rudder 22 SprayerPump 23 SprayerSpinner 24 FlaperonLeft 25 FlaperonRight 26 GroundSteering 27 Parachute 28 Gripper 29 LandingGear 30 EngineRunEnable 31 HeliRSC 32 HeliTailRSC 33 Motor1 34 Motor2 35 Motor3 36 Motor4 37 Motor5 38 Motor6 39 Motor7 40 Motor8 41 TiltMotorsFront 45 TiltMotorsRear 46 TiltMotorRearLeft 47 TiltMotorRearRight 51 RCIN1 52 RCIN2 53 RCIN3 54 RCIN4 55 RCIN5 56 RCIN6 57 RCIN7 58 RCIN8 59 RCIN9 60 RCIN10 61 RCIN11 62 RCIN12 63 RCIN13 64 RCIN14 65 RCIN15 66 RCIN16 67 Ignition 69 Starter 70 Throttle 71 TrackerYaw 72 TrackerPitch 73 ThrottleLeft 74 ThrottleRight 75 TiltMotorFrontLeft 76 TiltMotorFrontRight 77 ElevonLeft 78 ElevonRight 79 VTailLeft 80 VTailRight 81 BoostThrottle 82 Motor9 83 Motor10 84 Motor11 85 Motor12 86 DifferentialSpoilerLeft2 87 DifferentialSpoilerRight2 88 Winch 89 Main Sail 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 128 WingSailElevator 129 ProfiLED1 130 ProfiLED2 131 ProfiLED3 132 ProfiLEDClock 133 Winch Clutch 134 SERVOn_MIN 135 SERVOn_TRIM 136 SERVOn_MAX 137 SailMastRotation 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 180 CameraZoom

OUT_BLH_ Parameters

OUT_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

OUT_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

OUT_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

OUT_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

OUT_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

OUT_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

OUT_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

OUT_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

OUT_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

OUT_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. Note that setting an ESC as reversible with this option on AM32 will result in the forward direction of the ESC changing. You can combine with parameter with the SERVO_BLH_RVMASK parameter to maintain the same direction when the ESC is in 3D mode as it has in unidirectional (non-3D) 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

OUT_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 telemetry. 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

OUT_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 to reverse motor direction. Note that when combined with SERVO_BLH_3DMASK this will change what direction is considered to be forward.

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

OUT_FTW_ Parameters

OUT_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

OUT_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

OUT_FTW_POLES: Nr. electrical poles

Number of motor electrical poles

Range
2 to 50

OUT_ROB_ Parameters

OUT_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

OUT_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

OUT_SBUS_ Parameters

OUT_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

OUT_VOLZ_ Parameters

OUT_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

OUT_VOLZ_RANGE: Range of travel

Range to map between 1000 and 2000 PWM. Default value of 200 gives full +-100 deg range of extended position command. This results in 0.2 deg movement per US change in PWM. If the full range is not needed it can be reduced to increase resolution. 40 deg range gives 0.04 deg movement per US change in PWM, this is higher resolution than possible with the VOLZ protocol so further reduction in range will not improve resolution. Reduced range does allow PWMs outside the 1000 to 2000 range, with 40 deg range 750 PWM results in a angle of -30 deg, 2250 would be +30 deg. This is still limited by the 200 deg maximum range of the actuator.

Units
degrees

PRX Parameters

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

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 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

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

PRX1_ Parameters

PRX1_RECV_ID: 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

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 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

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

PRX2_ Parameters

PRX2_RECV_ID: 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

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 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

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

PRX3_ Parameters

PRX3_RECV_ID: 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

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 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

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

PRX4_ Parameters

PRX4_RECV_ID: 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

PRX5 Parameters

PRX5_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 15 Scripting 16 LD06 17 MR72_CAN 18 HexsoonRadar

PRX5_ORIENT: Proximity sensor orientation

Proximity sensor orientation

Values
Value Meaning 0 Default 1 Upside Down

PRX5_YAW_CORR: Proximity sensor yaw correction

Proximity sensor yaw correction

Range	Units
-180 to 180	degrees

PRX5_IGN_ANG1: Proximity sensor ignore angle 1

Proximity sensor ignore angle 1

Range	Units
0 to 360	degrees

PRX5_IGN_WID1: Proximity sensor ignore width 1

Proximity sensor ignore width 1

Range	Units
0 to 127	degrees

PRX5_IGN_ANG2: Proximity sensor ignore angle 2

Proximity sensor ignore angle 2

Range	Units
0 to 360	degrees

PRX5_IGN_WID2: Proximity sensor ignore width 2

Proximity sensor ignore width 2

Range	Units
0 to 127	degrees

PRX5_IGN_ANG3: Proximity sensor ignore angle 3

Proximity sensor ignore angle 3

Range	Units
0 to 360	degrees

PRX5_IGN_WID3: Proximity sensor ignore width 3

Proximity sensor ignore width 3

Range	Units
0 to 127	degrees

PRX5_IGN_ANG4: Proximity sensor ignore angle 4

Proximity sensor ignore angle 4

Range	Units
0 to 360	degrees

PRX5_IGN_WID4: Proximity sensor ignore width 4

Proximity sensor ignore width 4

Range	Units
0 to 127	degrees

PRX5_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

PRX5_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

PRX5_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

PRX5_ Parameters

PRX5_RECV_ID: 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

RC Parameters

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_MSGRATE: DroneCAN RC Message rate

Note: This parameter is for advanced users

Rate at which RC input is sent via DroneCAN

Increment	Range	Units
1	0 to 255	hertz

RC1_PORT: RC input port

Note: This parameter is for advanced users

Note: Reboot required after change

This is the serial port number where SERIALx_PROTOCOL will be set to RC input.

Increment	Range
1	0 to 10

RC1_PORT_OPTIONS: RC input port serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

RELAY10_ Parameters

RELAY10_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY10_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY10_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY10_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY11_ Parameters

RELAY11_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY11_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY11_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY11_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY12_ Parameters

RELAY12_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY12_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY12_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY12_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY13_ Parameters

RELAY13_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY13_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY13_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY13_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY14_ Parameters

RELAY14_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY14_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY14_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY14_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY15_ Parameters

RELAY15_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY15_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY15_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY15_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY16_ Parameters

RELAY16_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY16_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY16_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY16_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY1_ Parameters

RELAY1_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY1_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY1_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY1_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY2_ Parameters

RELAY2_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY2_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY2_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY2_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY3_ Parameters

RELAY3_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY3_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY3_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY3_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY4_ Parameters

RELAY4_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY4_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY4_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY4_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY5_ Parameters

RELAY5_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY5_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY5_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY5_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY6_ Parameters

RELAY6_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY6_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY6_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY6_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY7_ Parameters

RELAY7_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY7_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY7_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY7_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY8_ Parameters

RELAY8_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY8_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY8_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY8_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

RELAY9_ Parameters

RELAY9_FUNCTION: Relay function

The function the relay channel is mapped to.

Values

Value Meaning 10 DroneCAN Hardpoint ID 0 11 DroneCAN Hardpoint ID 1 12 DroneCAN Hardpoint ID 2 13 DroneCAN Hardpoint ID 3 14 DroneCAN Hardpoint ID 4 15 DroneCAN Hardpoint ID 5 16 DroneCAN Hardpoint ID 6 17 DroneCAN Hardpoint ID 7 18 DroneCAN Hardpoint ID 8 19 DroneCAN Hardpoint ID 9 20 DroneCAN Hardpoint ID 10 21 DroneCAN Hardpoint ID 11 22 DroneCAN Hardpoint ID 12 23 DroneCAN Hardpoint ID 13 24 DroneCAN Hardpoint ID 14 25 DroneCAN Hardpoint ID 15

RELAY9_PIN: Relay pin

Digital pin number for 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 1000 DroneCAN Hardpoint ID 0 1001 DroneCAN Hardpoint ID 1 1002 DroneCAN Hardpoint ID 2 1003 DroneCAN Hardpoint ID 3 1004 DroneCAN Hardpoint ID 4 1005 DroneCAN Hardpoint ID 5 1006 DroneCAN Hardpoint ID 6 1007 DroneCAN Hardpoint ID 7 1008 DroneCAN Hardpoint ID 8 1009 DroneCAN Hardpoint ID 9 1010 DroneCAN Hardpoint ID 10 1011 DroneCAN Hardpoint ID 11 1012 DroneCAN Hardpoint ID 12 1013 DroneCAN Hardpoint ID 13 1014 DroneCAN Hardpoint ID 14 1015 DroneCAN Hardpoint ID 15

RELAY9_DEFAULT: Relay default state

Should the relay default to on or off, this only applies to RELAYx_FUNC "Relay" (1). All other uses will pick the appropriate default output state from within the controlling function's parameters. Note that if INVERTED is set then the default is inverted.

Values
Value Meaning 0 Off 1 On 2 NoChange

RELAY9_INVERTED: Relay invert output signal

Should the relay output signal be inverted. If enabled, relay on would be pin low and relay off would be pin high. NOTE: this impact's DEFAULT.

Values
Value Meaning 0 Normal 1 Inverted

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND1_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND1_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND2_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND2_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND3_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND3_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND4_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND4_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND5_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND5_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND6_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND6_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND7_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND7_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND8_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND8_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFND9_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFND9_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 37 NoopLoop_TOFSense 38 NoopLoop_TOFSense_CAN 39 NRA24_CAN 40 NoopLoop_TOFSenseF_I2C 41 JRE_Serial 42 Ainstein_LR_D1 43 RDS02UF 44 HexsoonRadar 100 SITL

RNGFNDA_PIN: Rangefinder pin

Analog or PWM input pin that rangefinder is connected to. Analog RSSI or Airspeed ports can be used for Analog inputs (some autopilots provide others also), Non-IOMCU Servo/MotorOutputs can be used for PWM input when configured as "GPIOs". Values for some autopilots are given as examples. Search wiki for "Analog pins" for analog pin or "GPIOs", if PWM input type, to determine pin number.

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: Rangefinder minimum distance

Minimum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

RNGFNDA_MAX: Rangefinder maximum distance

Maximum distance in metres that rangefinder can reliably read

Increment	Units
0.01	meters

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_GNDCLR: Distance from the range finder to the ground

This parameter sets the expected range measurement that the range finder should return when the vehicle is on the ground.

Increment	Range	Units
0.01	0.05 to 1.5	meters

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: RangeFinder 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: RangeFinder Minimum signal strength

Note: This parameter is for advanced users

RangeFinder Minimum signal strength (SNR) to accept distance

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 7 DroneCAN

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

RPM1_ESC_INDEX: ESC Telemetry Index to write RPM to

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

Increment	Range
1	0 to 10

RPM1_DC_ID: DroneCAN Sensor ID

Note: This parameter is for advanced users

DroneCAN sensor ID to send as on AP-Periph -1 disables

Increment	Range
1	-1 to 10

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 7 DroneCAN

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

RPM2_ESC_INDEX: ESC Telemetry Index to write RPM to

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

Increment	Range
1	0 to 10

RPM2_DC_ID: DroneCAN Sensor ID

Note: This parameter is for advanced users

DroneCAN sensor ID to send as on AP-Periph -1 disables

Increment	Range
1	-1 to 10

RPM3_ Parameters

RPM3_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 7 DroneCAN

RPM3_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM3_MAX: Maximum RPM

Maximum RPM to report. Only used on type = GPIO.

Increment
1

RPM3_MIN: Minimum RPM

Minimum RPM to report. Only used on type = GPIO.

Increment
1

RPM3_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM3_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

RPM3_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

RPM3_ESC_INDEX: ESC Telemetry Index to write RPM to

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

Increment	Range
1	0 to 10

RPM3_DC_ID: DroneCAN Sensor ID

Note: This parameter is for advanced users

DroneCAN sensor ID to send as on AP-Periph -1 disables

Increment	Range
1	-1 to 10

RPM4_ Parameters

RPM4_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 7 DroneCAN

RPM4_SCALING: RPM scaling

Scaling factor between sensor reading and RPM.

Increment
0.001

RPM4_MAX: Maximum RPM

Maximum RPM to report. Only used on type = GPIO.

Increment
1

RPM4_MIN: Minimum RPM

Minimum RPM to report. Only used on type = GPIO.

Increment
1

RPM4_MIN_QUAL: Minimum Quality

Note: This parameter is for advanced users

Minimum data quality to be used

Increment
0.1

RPM4_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

RPM4_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

RPM4_ESC_INDEX: ESC Telemetry Index to write RPM to

Note: This parameter is for advanced users

ESC Telemetry Index to write RPM to. Use 0 to disable.

Increment	Range
1	0 to 10

RPM4_DC_ID: DroneCAN Sensor ID

Note: This parameter is for advanced users

DroneCAN sensor ID to send as on AP-Periph -1 disables

Increment	Range
1	-1 to 10

RTC Parameters

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

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

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 5 Save CRC of current scripts to loaded and running checksum parameters enabling pre-arm 6 Disable heap expansion on allocation failure

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

SCR_LD_CHECKSUM: Loaded script checksum

Note: This parameter is for advanced users

Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables

SCR_RUN_CHECKSUM: Running script checksum

Note: This parameter is for advanced users

Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables

SCR_THD_PRIORITY: Scripting thread priority

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the priority of the scripting thread. This is normally set to a low priority to prevent scripts from interfering with other parts of the system. Advanced users can change this priority if scripting needs to be prioritised for realtime applications. WARNING: changing this parameter can impact the stability of your flight controller. The scipting thread priority in this parameter is chosen based on a set of system level priorities for other subsystems. It is strongly recommended that you use the lowest priority that is sufficient for your application. Note that all scripts run at the same priority, so if you raise this priority you must carefully audit all lua scripts for behaviour that does not interfere with the operation of the system.

Values
Value Meaning 0 Normal 1 IO Priority 2 Storage Priority 3 UART Priority 4 I2C Priority 5 SPI Priority 6 Timer Priority 7 Main Priority 8 Boost Priority

SCR_SDEV_EN: Scripting serial device enable

Note: This parameter is for advanced users

Note: Reboot required after change

Enable scripting serial devices

Values
Value Meaning 0 Disabled 1 Enabled

SCR_SDEV1_PROTO: Serial protocol of scripting serial device

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SCR_SDEV2_PROTO: Serial protocol of scripting serial device

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

SCR_SDEV3_PROTO: Serial protocol of scripting serial device

Note: This parameter is for advanced users

Note: Reboot required after change

Serial protocol of scripting serial device

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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. This parameter is normally reset to -1 on reboot, disabling passthrough. If SERIAL_PASSTIMO is set to -1 then it is not reset on reboot.

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. A value of -1 means no timeout and the SERIAL_PASS2 parameter is not reset on reboot.

Range	Units
-1 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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

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 45 DDS XRCE 46 IMUDATA 48 PPP 49 i-BUS Telemetry 50 IOMCU

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 1.5MBaud 2000 2MBaud 12500000 12.5MBaud

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. NOTE that two bits have moved from this parameter into MAVn_OPTIONS!

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 (moved to MAVn_OPTIONS >4.7) 11 DisableFIFO 12 Ignore Streamrate (moved to MAVn_OPTIONS >4.7)

Simulation Parameters

SIM_ACC1_BIAS_X: Accel 1 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC1_BIAS_Y: Accel 1 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC1_BIAS_Z: Accel 1 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC1_RND: Accel 1 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC1_SCAL_X: Accel 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC1_SCAL_Y: Accel 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC1_SCAL_Z: Accel 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC2_BIAS_X: Accel 2 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC2_BIAS_Y: Accel 2 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC2_BIAS_Z: Accel 2 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC2_RND: Accel 2 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC2_SCAL_X: Accel 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC2_SCAL_Y: Accel 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC2_SCAL_Z: Accel 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC3_BIAS_X: Accel 3 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC3_BIAS_Y: Accel 3 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC3_BIAS_Z: Accel 3 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC3_RND: Accel 3 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC3_SCAL_X: Accel 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC3_SCAL_Y: Accel 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC3_SCAL_Z: Accel 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC4_BIAS_X: Accel 4 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC4_BIAS_Y: Accel 4 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC4_BIAS_Z: Accel 4 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC4_RND: Accel 4 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC4_SCAL_X: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC4_SCAL_Y: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC4_SCAL_Z: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

SIM_ACC5_BIAS_X: Accel 5 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (X-axis)

SIM_ACC5_BIAS_Y: Accel 5 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Y-axis)

SIM_ACC5_BIAS_Z: Accel 5 bias

Note: This parameter is for advanced users

bias of simulated accelerometer sensor (Z-axis)

SIM_ACC5_RND: Accel 5 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_ACC5_SCAL_X: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (X-axis)

SIM_ACC5_SCAL_Y: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Y-axis)

SIM_ACC5_SCAL_Z: Accel 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated accelerometer (Z-axis)

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_ACC_FILE_RW: Accelerometer data to/from files

Read and write accelerometer data to/from files

Values
Value Meaning 0 Stop writing data 1 Read data from file 2 Write data to a file 3 Read data from file and stop on EOF

SIM_ACC_TRIM_X: Accelerometer trim

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (X-axis)

SIM_ACC_TRIM_Y: Accelerometer trim

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (Y-axis)

SIM_ACC_TRIM_Z: Accelerometer trim

Note: This parameter is for advanced users

Trim applied to simulated accelerometer (Z-axis)

SIM_ADSB_ALT: ADSB altitude of another aircraft

Simulated ADSB altitude of another aircraft

Units
meters

SIM_ADSB_COUNT: Number of ADSB aircrafts

Total number of ADSB simulated aircraft

SIM_ADSB_RADIUS: ADSB radius stddev of another aircraft

Simulated standard deviation of radius in ADSB of another aircraft

Units
meters

SIM_ADSB_TX: ADSB transmit enable

ADSB transceiever enable and disable

Values
Value Meaning 0 Transceiever disable 1 Transceiever enable

SIM_ADSB_TYPES: Simulated ADSB Type mask

Note: This parameter is for advanced users

specifies which simulated ADSB types are active

Bitmask
Bit Meaning 0 MAVLink 3 SageTechMXS

SIM_AIS_COUNT: Number of AIS vessels

Total number of AIS simulated vessels

SIM_AIS_RADIUS: AIS radius stddev of vessels

Simulated standard deviation of radius in AIS of a vessel

Units
meters

SIM_ARSPD2_FAIL: Airspeed sensor failure

Note: This parameter is for advanced users

Simulates Airspeed sensor 1 failure

Values
Value Meaning 0 Disabled 1 Enabled

SIM_ARSPD2_FAILP: Airspeed sensor failure pressure

Note: This parameter is for advanced users

Simulated airspeed sensor failure pressure

Units
pascal

SIM_ARSPD2_OFS: Airspeed sensor offset

Note: This parameter is for advanced users

Simulated Airspeed sensor offset

Units
meters per second

SIM_ARSPD2_PITOT: Airspeed pitot tube failure pressure

Note: This parameter is for advanced users

Simulated airspeed sensor pitot tube failure pressure

Units
pascal

SIM_ARSPD2_RATIO: Airspeed ratios

Note: This parameter is for advanced users

Simulated airspeed sensor ratio

SIM_ARSPD2_RND: Airspeed sensor noise

Note: This parameter is for advanced users

Simulated Airspeed sensor noise

Units
pascal

SIM_ARSPD2_SIGN: Airspeed signflip

Note: This parameter is for advanced users

Simulated airspeed sensor with reversed pitot/static connections

Values
Value Meaning 0 Disabled 1 Enabled

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_ARSPD_FAILP: Airspeed sensor failure pressure

Note: This parameter is for advanced users

Simulated airspeed sensor failure pressure

Units
pascal

SIM_ARSPD_OFS: Airspeed sensor offset

Note: This parameter is for advanced users

Simulated Airspeed sensor offset

Units
meters per second

SIM_ARSPD_PITOT: Airspeed pitot tube failure pressure

Note: This parameter is for advanced users

Simulated airspeed sensor pitot tube failure pressure

Units
pascal

SIM_ARSPD_RATIO: Airspeed ratios

Note: This parameter is for advanced users

Simulated airspeed sensor ratio

SIM_ARSPD_RND: Airspeed sensor noise

Note: This parameter is for advanced users

Simulated Airspeed sensor noise

Units
pascal

SIM_ARSPD_SIGN: Airspeed signflip

Note: This parameter is for advanced users

Simulated airspeed sensor with reversed pitot/static connections

Values
Value Meaning 0 Disabled 1 Enabled

SIM_BAR2_DELAY: Barometer delay

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BAR2_DISABLE: Barometer disable

Note: This parameter is for advanced users

Disable barometer in SITL

Values
Value Meaning 0 Disable 1 Enable

SIM_BAR2_DRIFT: Barometer altitude drift

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BAR2_FREEZE: Barometer freeze

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BAR2_GLITCH: Barometer glitch

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BAR2_RND: Barometer noise

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BAR2_WCF_BAK: Wind coefficient backward

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BAR2_WCF_DN: Wind coefficient down

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BAR2_WCF_FWD: Wind coefficient forward

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BAR2_WCF_LFT: Wind coefficient left

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BAR2_WCF_RGT: Wind coefficient right

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BAR2_WCF_UP: Wind coefficient up

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BAR3_DELAY: Barometer delay

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BAR3_DISABLE: Barometer disable

Note: This parameter is for advanced users

Disable barometer in SITL

Values
Value Meaning 0 Disable 1 Enable

SIM_BAR3_DRIFT: Barometer altitude drift

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BAR3_FREEZE: Barometer freeze

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BAR3_GLITCH: Barometer glitch

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BAR3_RND: Barometer noise

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BAR3_WCF_BAK: Wind coefficient backward

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BAR3_WCF_DN: Wind coefficient down

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BAR3_WCF_FWD: Wind coefficient forward

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BAR3_WCF_LFT: Wind coefficient left

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BAR3_WCF_RGT: Wind coefficient right

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BAR3_WCF_UP: Wind coefficient up

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BARO_COUNT: Baro count

Number of simulated baros to create in SITL

Range
0 to 3

SIM_BARO_DELAY: Barometer delay

Note: This parameter is for advanced users

Barometer data time delay

Units
milliseconds

SIM_BARO_DISABLE: Barometer disable

Note: This parameter is for advanced users

Disable barometer in SITL

Values
Value Meaning 0 Disable 1 Enable

SIM_BARO_DRIFT: Barometer altitude drift

Note: This parameter is for advanced users

Barometer altitude drifts at this rate

Units
meters per second

SIM_BARO_FREEZE: Barometer freeze

Note: This parameter is for advanced users

Freeze barometer to last recorded altitude

SIM_BARO_GLITCH: Barometer glitch

Note: This parameter is for advanced users

Barometer glitch height in SITL

Units
meters

SIM_BARO_RND: Barometer noise

Note: This parameter is for advanced users

Barometer noise in height

Units
meters

SIM_BARO_WCF_BAK: Wind coefficient backward

Note: This parameter is for advanced users

Barometer wind coefficient direction backward in SITL

SIM_BARO_WCF_DN: Wind coefficient down

Note: This parameter is for advanced users

Barometer wind coefficient direction down in SITL

SIM_BARO_WCF_FWD: Wind coefficient forward

Note: This parameter is for advanced users

Barometer wind coefficient direction forward in SITL

SIM_BARO_WCF_LFT: Wind coefficient left

Note: This parameter is for advanced users

Barometer wind coefficient direction left in SITL

SIM_BARO_WCF_RGT: Wind coefficient right

Note: This parameter is for advanced users

Barometer wind coefficient direction right in SITL

SIM_BARO_WCF_UP: Wind coefficient up

Note: This parameter is for advanced users

Barometer wind coefficient direction up in SITL

SIM_BATT_CAP_AH: Simulated battery capacity

Note: This parameter is for advanced users

Simulated battery capacity

Units
ampere hour

SIM_BATT_VOLTAGE: Simulated battery voltage

Note: This parameter is for advanced users

Simulated battery (constant) voltage

Units
volt

SIM_BAUDLIMIT_EN: Telemetry bandwidth limitting

SITL enable bandwidth limitting on telemetry ports with non-zero values

SIM_BZ_ENABLE: Buzzer enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the simulated buzzer

Values
Value Meaning 0 Disabled 1 Enabled

SIM_BZ_PIN: buzzer pin

Note: This parameter is for advanced users

The pin number that the Buzzer is connected to (start at 1)

Range
0 to 15

SIM_CAN_SRV_MSK: Mask of CAN servos/ESCs

Note: This parameter is for advanced users

The set of actuators controlled externally by CAN SITL AP_Periph

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

SIM_CAN_TYPE1: transport type for first CAN interface

Note: This parameter is for advanced users

transport type for first CAN interface

Values
Value Meaning 0 None 1 MulticastUDP 2 SocketCAN

SIM_CAN_TYPE2: transport type for second CAN interface

Note: This parameter is for advanced users

transport type for second CAN interface

Values
Value Meaning 0 None 1 MulticastUDP 2 SocketCAN

SIM_CLAMP_CH: Simulated Clamp Channel

If non-zero the vehicle will be clamped in position until the value on this servo channel passes 1800PWM

SIM_DRIFT_SPEED: Gyro drift speed

Gyro drift rate of change in degrees/second/minute

SIM_DRIFT_TIME: Gyro drift time

Gyro drift duration of one full drift cycle (period in minutes)

SIM_EFI_TYPE: Type of Electronic Fuel Injection

Different types of Electronic Fuel Injection (EFI) systems

Values
Value Meaning 0 None 1 MegaSquirt EFI system 2 Löweheiser EFI system 8 Hirth engines

SIM_ENGINE_FAIL: Engine Fail Mask

mask of motors which SIM_ENGINE_MUL will be applied to

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

SIM_ENGINE_MUL: Engine failure thrust scaler

Thrust from Motors in SIM_ENGINE_FAIL will be multiplied by this factor

Range
0 to 1

SIM_ESC_ARM_RPM: ESC RPM when armed

Note: This parameter is for advanced users

Simulated RPM when motors are armed

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_FLOW_DELAY: Opflow Delay

Opflow data delay

Units
milliseconds

SIM_FLOW_ENABLE: Opflow Enable

Enable simulated Optical Flow sensor

Values
Value Meaning 0 Disable 1 Enabled

SIM_FLOW_POS_X: Opflow Pos

XYZ position of the optical flow sensor focal point relative to the body frame origin (X-axis)

Units
meters

SIM_FLOW_POS_Y: Opflow Pos

XYZ position of the optical flow sensor focal point relative to the body frame origin (Y-axis)

Units
meters

SIM_FLOW_POS_Z: Opflow Pos

XYZ position of the optical flow sensor focal point relative to the body frame origin (Z-axis)

Units
meters

SIM_FLOW_RATE: Opflow Rate

Opflow Data Rate

Units
hertz

SIM_FLOW_RND: Opflow noise

Optical Flow sensor measurement noise

Units
radians per second

SIM_FTOWESC_ENA: FETtec OneWire ESC simulator enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the FETtecOneWireESC simulator

Values
Value Meaning 0 Disabled 1 Enabled

SIM_FTOWESC_POW: Power off FETtec ESC mask

Note: This parameter is for advanced users

Allows you to turn power off to the simulated ESCs. Bits correspond to the ESC ID, *NOT* their servo channel.

SIM_GLD_BLN_BRST: balloon burst height

balloon burst height

Units
meters

SIM_GLD_BLN_RATE: balloon climb rate

balloon climb rate. If the value is less than zero then the balloon is disabled.

Units
meters per second

SIM_GND_BEHAV: Ground behavior

Ground behavior of aircraft (tailsitter, no movement, forward only)

SIM_GPS1_ACC: GPS Accuracy

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS1_ALT_OFS: GPS Altitude Offset

GPS Altitude Error

Units
meters

SIM_GPS1_BYTELOS: GPS Byteloss

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS1_DRFTALT: GPS Altitude Drift

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS1_ENABLE: GPS enable

Note: This parameter is for advanced users

Enable simulated GPS

Values
Value Meaning 0 Disable 1 Enable

SIM_GPS1_GLTCH_X: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS1_GLTCH_Y: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS1_GLTCH_Z: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS1_HDG: GPS Heading

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values
Value Meaning 0 Disabled 1 Emit HDT 2 Emit THS 3 KSXT 4 Be Moving Baseline Base

SIM_GPS1_HDG_OFS: GPS heading offset

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS1_HZ: GPS Hz

GPS Update rate

Units
hertz

SIM_GPS1_JAM: GPS jamming enable

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GPS1_LAG_MS: GPS Lag

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS1_LCKTIME: GPS Lock Time

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS1_NOISE: GPS Noise

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS1_NUMSATS: GPS Num Satellites

Number of satellites GPS has in view

SIM_GPS1_POS_X: GPS Position

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS1_POS_Y: GPS Position

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS1_POS_Z: GPS Position

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS1_TYPE: GPS type

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values
Value Meaning 0 None 1 UBlox 5 NMEA 6 SBP 7 File 8 Nova 9 SBP2 11 Trimble 19 MSP

SIM_GPS1_VERR_X: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS1_VERR_Y: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS1_VERR_Z: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS2_ACC: GPS Accuracy

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS2_ALT_OFS: GPS Altitude Offset

GPS Altitude Error

Units
meters

SIM_GPS2_BYTELOS: GPS Byteloss

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS2_DRFTALT: GPS Altitude Drift

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS2_ENABLE: GPS enable

Note: This parameter is for advanced users

Enable simulated GPS

Values
Value Meaning 0 Disable 1 Enable

SIM_GPS2_GLTCH_X: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS2_GLTCH_Y: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS2_GLTCH_Z: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS2_HDG: GPS Heading

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values
Value Meaning 0 Disabled 1 Emit HDT 2 Emit THS 3 KSXT 4 Be Moving Baseline Base

SIM_GPS2_HDG_OFS: GPS heading offset

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS2_HZ: GPS Hz

GPS Update rate

Units
hertz

SIM_GPS2_JAM: GPS jamming enable

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GPS2_LAG_MS: GPS Lag

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS2_LCKTIME: GPS Lock Time

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS2_NOISE: GPS Noise

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS2_NUMSATS: GPS Num Satellites

Number of satellites GPS has in view

SIM_GPS2_POS_X: GPS Position

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS2_POS_Y: GPS Position

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS2_POS_Z: GPS Position

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS2_TYPE: GPS type

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values
Value Meaning 0 None 1 UBlox 5 NMEA 6 SBP 7 File 8 Nova 9 SBP2 11 Trimble 19 MSP

SIM_GPS2_VERR_X: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS2_VERR_Y: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS2_VERR_Z: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS3_ACC: GPS Accuracy

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS3_ALT_OFS: GPS Altitude Offset

GPS Altitude Error

Units
meters

SIM_GPS3_BYTELOS: GPS Byteloss

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS3_DRFTALT: GPS Altitude Drift

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS3_ENABLE: GPS enable

Note: This parameter is for advanced users

Enable simulated GPS

Values
Value Meaning 0 Disable 1 Enable

SIM_GPS3_GLTCH_X: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS3_GLTCH_Y: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS3_GLTCH_Z: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS3_HDG: GPS Heading

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values
Value Meaning 0 Disabled 1 Emit HDT 2 Emit THS 3 KSXT 4 Be Moving Baseline Base

SIM_GPS3_HDG_OFS: GPS heading offset

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS3_HZ: GPS Hz

GPS Update rate

Units
hertz

SIM_GPS3_JAM: GPS jamming enable

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GPS3_LAG_MS: GPS Lag

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS3_LCKTIME: GPS Lock Time

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS3_NOISE: GPS Noise

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS3_NUMSATS: GPS Num Satellites

Number of satellites GPS has in view

SIM_GPS3_POS_X: GPS Position

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS3_POS_Y: GPS Position

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS3_POS_Z: GPS Position

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS3_TYPE: GPS type

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values
Value Meaning 0 None 1 UBlox 5 NMEA 6 SBP 7 File 8 Nova 9 SBP2 11 Trimble 19 MSP

SIM_GPS3_VERR_X: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS3_VERR_Y: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS3_VERR_Z: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS4_ACC: GPS Accuracy

Note: This parameter is for advanced users

GPS Accuracy

SIM_GPS4_ALT_OFS: GPS Altitude Offset

GPS Altitude Error

Units
meters

SIM_GPS4_BYTELOS: GPS Byteloss

Note: This parameter is for advanced users

Percent of bytes lost from GPS

Units
percent

SIM_GPS4_DRFTALT: GPS Altitude Drift

Note: This parameter is for advanced users

GPS altitude drift error

Units
meters

SIM_GPS4_ENABLE: GPS enable

Note: This parameter is for advanced users

Enable simulated GPS

Values
Value Meaning 0 Disable 1 Enable

SIM_GPS4_GLTCH_X: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (X-axis)

SIM_GPS4_GLTCH_Y: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Y-axis)

SIM_GPS4_GLTCH_Z: GPS Glitch

Note: This parameter is for advanced users

Glitch offsets of simulated GPS sensor (Z-axis)

SIM_GPS4_HDG: GPS Heading

Note: This parameter is for advanced users

Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED

Values
Value Meaning 0 Disabled 1 Emit HDT 2 Emit THS 3 KSXT 4 Be Moving Baseline Base

SIM_GPS4_HDG_OFS: GPS heading offset

Note: This parameter is for advanced users

GPS heading offset in degrees. how off the simulated GPS heading is from the actual heading

SIM_GPS4_HZ: GPS Hz

GPS Update rate

Units
hertz

SIM_GPS4_JAM: GPS jamming enable

Note: This parameter is for advanced users

Enable simulated GPS jamming

Values
Value Meaning 0 Disabled 1 Enabled

SIM_GPS4_LAG_MS: GPS Lag

Note: This parameter is for advanced users

GPS lag

Units
milliseconds

SIM_GPS4_LCKTIME: GPS Lock Time

Note: This parameter is for advanced users

Delay in seconds before GPS acquires lock

Units
seconds

SIM_GPS4_NOISE: GPS Noise

Note: This parameter is for advanced users

Amplitude of the GPS altitude error

Units
meters

SIM_GPS4_NUMSATS: GPS Num Satellites

Number of satellites GPS has in view

SIM_GPS4_POS_X: GPS Position

GPS antenna phase center position relative to the body frame origin (X-axis)

Units
meters

SIM_GPS4_POS_Y: GPS Position

GPS antenna phase center position relative to the body frame origin (Y-axis)

Units
meters

SIM_GPS4_POS_Z: GPS Position

GPS antenna phase center position relative to the body frame origin (Z-axis)

Units
meters

SIM_GPS4_TYPE: GPS type

Note: This parameter is for advanced users

Sets the type of simulation used for GPS

Values
Value Meaning 0 None 1 UBlox 5 NMEA 6 SBP 7 File 8 Nova 9 SBP2 11 Trimble 19 MSP

SIM_GPS4_VERR_X: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (X-axis)

SIM_GPS4_VERR_Y: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Y-axis)

SIM_GPS4_VERR_Z: GPS Velocity Error

Note: This parameter is for advanced users

GPS Velocity Error Offsets in NED (Z-axis)

SIM_GPS_LOG_NUM: GPS Log Number

Log number for GPS:update_file()

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_GYR1_RND: Gyro 1 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR1_SCALE_X: Gyro 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR1_SCALE_Y: Gyro 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR1_SCALE_Z: Gyro 1 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

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_GYR2_RND: Gyro 2 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR2_SCALE_X: Gyro 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR2_SCALE_Y: Gyro 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR2_SCALE_Z: Gyro 2 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

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_GYR3_RND: Gyro 3 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR3_SCALE_X: Gyro 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR3_SCALE_Y: Gyro 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR3_SCALE_Z: Gyro 3 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

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_GYR4_RND: Gyro 4 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR4_SCALE_X: Gyro 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR4_SCALE_Y: Gyro 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR4_SCALE_Z: Gyro 4 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

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_GYR5_RND: Gyro 5 motor noise factor

Note: This parameter is for advanced users

scaling factor for simulated vibration from motors

SIM_GYR5_SCALE_X: Gyro 5 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (X-axis)

SIM_GYR5_SCALE_Y: Gyro 5 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Y-axis)

SIM_GYR5_SCALE_Z: Gyro 5 scaling factor

Note: This parameter is for advanced users

scaling factors applied to simulated gyroscope (Z-axis)

SIM_GYR_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_GYR_FILE_RW: Gyro data to/from files

Read and write gyro data to/from files

Values
Value Meaning 0 Stop writing data 1 Read data from file 2 Write data to a file 3 Read data from file and stop on EOF

SIM_IE24_ENABLE: IntelligentEnergy 2.4kWh FuelCell sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the FuelCell simulator

Values
Value Meaning 0 Disabled 1 V1 Protocol 2 V2 Protocol

SIM_IE24_ERROR: Explicitly set error code

Note: This parameter is for advanced users

Explicitly specify an error code to send to the generator

SIM_IE24_STATE: Explicitly set state

Note: This parameter is for advanced users

Explicitly specify a state for the generator to be in

SIM_IMUT_END: IMU temperature end

Ending IMU temperature of a curve

SIM_IMUT_FIXED: IMU fixed temperature

IMU fixed temperature by user

SIM_IMUT_START: IMU temperature start

Starting IMU temperature of a curve

SIM_IMUT_TCONST: IMU temperature time constant

IMU temperature time constant of the curve

SIM_IMU_COUNT: IMU count

Number of simulated IMUs to create

SIM_IMU_ORIENT: IMU orientation

Note: This parameter is for advanced users

Simulated orientation of the IMUs

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

SIM_IMU_POS_X: IMU Offsets

XYZ position of the IMU accelerometer relative to the body frame origin (X-axis)

Units
meters

SIM_IMU_POS_Y: IMU Offsets

XYZ position of the IMU accelerometer relative to the body frame origin (Y-axis)

Units
meters

SIM_IMU_POS_Z: IMU Offsets

XYZ position of the IMU accelerometer relative to the body frame origin (Z-axis)

Units
meters

SIM_INIT_ALT_OFS: Initial Altitude Offset

GPS initial alt offset from origin

SIM_INIT_LAT_OFS: Initial Latitude Offset

GPS initial lat offset from origin

SIM_INIT_LON_OFS: Initial Longitude Offset

GPS initial lon offset from origin

SIM_INS_THR_MIN: Minimum throttle INS noise

Minimum throttle for simulated ins noise

SIM_JSON_MASTER: JSON master instance

the instance number to take servos from

SIM_LED_LAYOUT: LED layout

LED layout config value

SIM_LOOP_DELAY: Extra delay per main loop

Extra time delay per main loop

Units
microseconds

SIM_MAG1_DEVID: MAG1 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 1

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_MAG1_ORIENT: MAG1 Orientation

Note: This parameter is for advanced users

MAG1 external compass orientation

SIM_MAG1_SCALING: MAG1 Scaling factor

Note: This parameter is for advanced users

Scale the compass 1 to simulate sensor scale factor errors

SIM_MAG2_DEVID: MAG2 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 2

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_MAG2_ORIENT: MAG2 Orientation

Note: This parameter is for advanced users

MAG2 external compass orientation

SIM_MAG2_SCALING: MAG2 Scaling factor

Note: This parameter is for advanced users

Scale the compass 2 to simulate sensor scale factor errors

SIM_MAG3_DEVID: MAG3 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 3

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_MAG3_ORIENT: MAG3 Orientation

Note: This parameter is for advanced users

MAG3 external compass orientation

SIM_MAG3_SCALING: MAG3 Scaling factor

Note: This parameter is for advanced users

Scale the compass 3 to simulate sensor scale factor errors

SIM_MAG4_DEVID: MAG2 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 4

SIM_MAG5_DEVID: MAG5 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 5

SIM_MAG6_DEVID: MAG6 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 6

SIM_MAG7_DEVID: MAG7 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 7

SIM_MAG8_DEVID: MAG8 Device ID

Note: This parameter is for advanced users

Device ID of simulated compass 8

SIM_MAG_ALY_HGT: Magnetic anomaly height

Note: This parameter is for advanced users

Height above ground where anomally strength has decayed to 1/8 of the ground level value

Units
meters

SIM_MAG_DELAY: Mag measurement delay

Note: This parameter is for advanced users

Magnetometer measurement delay

Units
milliseconds

SIM_MAG_RND: Mag motor noise factor

Note: This parameter is for advanced users

Scaling factor for simulated vibration from motors

SIM_MAG_SAVE_IDS: Save MAG devids on startup

Note: This parameter is for advanced users

This forces saving of compass devids on startup so that simulated compasses start as calibrated

Values
Value Meaning 0 Disabled 1 Enabled

SIM_ODOM_ENABLE: Odometry enable

SITL odometry enabl

Values
Value Meaning 0 Disable 1 Enable

SIM_OH_MASK: SIM-on_hardware Output Enable Mask

channels which are passed through to actual hardware when running sim on actual hardware

SIM_OH_RELAY_MSK: SIM-on_hardware Relay Enable Mask

Allow relay output operation when running SIM-on-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_OSD_COLUMNS: Simulated OSD number of text columns

Simulated OSD number of text columns

Range
10 to 100

SIM_OSD_ROWS: Simulated OSD number of text rows

Simulated OSD number of text rows

Range
10 to 100

SIM_PARA_ENABLE: Parachute Sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Parachute simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_PARA_PIN: Parachute pin

Note: This parameter is for advanced users

The pin number that the Parachute pyrotechnics are connected to. (start at 1)

Range
0 to 15

SIM_PIN_MASK: GPIO emulation

SITL GPIO emulation

SIM_PLD_ALT_LMT: 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_LMT: 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 SITL origin

Note: This parameter is for advanced users

Precland device center's height above SITL origin. Assumes a 2x2m square as station base

Increment	Range	Units
1	0 to 10000	meters

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_SHIP: SIM_Precland follow ship

Note: This parameter is for advanced users

This makes the position of the landing beacon follow the simulated ship from SIM_SHIP. The ship movement is controlled with the SIM_SHIP parameters

Values
Value Meaning 0 Disabled 1 Enabled

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_RATE_HZ: Loop rate

SITL Loop rate

Units
hertz

SIM_RC_CHANCOUNT: RC channel count

SITL RC channel count

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_RFL_OPTS: FlightAxis options

Note: This parameter is for advanced users

Bitmask of FlightAxis options

Bitmask
Bit Meaning 0 Reset position on startup 1 Swap first 4 and last 4 servos (for quadplane testing) 2 Demix heli servos and send roll/pitch/collective/yaw 3 Don’t print frame rate stats

SIM_RICH_CTRL: Pin RichenPower is connectred to

Note: This parameter is for advanced users

The pin number that the RichenPower spinner servo is connected to. (start at 1)

Range
0 to 15

SIM_RICH_ENABLE: RichenPower Generator sim enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the RichenPower simulator

Values
Value Meaning 0 Disabled 1 Enabled

SIM_SB_ALT_TARG: altitude target

altitude target

Units
meters

SIM_SB_ARM_LEN: arm length

distance from center of mass to one motor

Units
meters

SIM_SB_CLMB_RT: target climb rate

target climb rate

Units
meters per second

SIM_SB_COL: center of lift

center of lift position above CoG

Units
meters

SIM_SB_DRAG_FWD: drag in forward direction

drag on X axis

SIM_SB_DRAG_SIDE: drag in sidewards direction

drag on Y axis

SIM_SB_DRAG_UP: drag in upward direction

drag on Z axis

SIM_SB_FLR: free lift rate

amount of additional lift generated by the helper balloon (for the purpose of ascent), as a proportion of the 'neutral buoyancy' lift

SIM_SB_HMASS: helium mass

mass of lifting gas

Units
kilograms

SIM_SB_MASS: mass

mass of blimp not including lifting gas

Units
kilograms

SIM_SB_MOI_PITCH: moment of inertia in pitch

moment of inertia in pitch

SIM_SB_MOI_ROLL: moment of inertia in roll

moment of inertia in roll

SIM_SB_MOI_YAW: moment of inertia in yaw

moment of inertia in yaw

SIM_SB_MOT_ANG: motor angle

maximum motor tilt angle

Units
degrees

SIM_SB_MOT_THST: motor thrust

thrust at max throttle for one motor

Units
Newtons

SIM_SB_WVANE: weathervaning offset

center of drag for weathervaning

Units
meters

SIM_SB_YAW_RT: yaw rate

maximum yaw rate with full left throttle at target altitude

Units
degrees per second

SIM_SERVO_DELAY: servo delay

servo delay

Units
seconds

SIM_SERVO_FILTER: servo filter

servo filter

Units
hertz

SIM_SERVO_SPEED: servo speed

servo speed (time for 60 degree deflection). If DELAY and FILTER are not set then this is converted to a 1p lowpass filter. If DELAY or FILTER are set then this is treated as a rate of change limit

Units
seconds

SIM_SHIP_DSIZE: Deck Size

Size of the ship's deck

Units
meters

SIM_SHIP_ENABLE: Ship landing Enable

Enable ship landing simulation

Values
Value Meaning 0 Disable 1 Enabled

SIM_SHIP_OFS_X: Ship landing pad offset

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (X-axis)

Units
meters

SIM_SHIP_OFS_Y: Ship landing pad offset

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (Y-axis)

Units
meters

SIM_SHIP_OFS_Z: Ship landing pad offset

Defines the offset of the ship's landing pad w.r.t. the ship's origin, i.e. where the beacon is placed on the ship (Z-axis)

Units
meters

SIM_SHIP_PSIZE: Path Size

Diameter of the circle the ship is traveling on

Units
meters

SIM_SHIP_SPEED: Ship Speed

Speed of the ship

Units
meters per second

SIM_SHIP_SYSID: System ID

System ID of the ship

Range
1 to 255

SIM_SHOVE_TIME: Time length for shove

Force to the vehicle over a period of time

Units
milliseconds

SIM_SHOVE_X: Acceleration of shove x

Acceleration of shove to vehicle in x axis

Units
meters per square second

SIM_SHOVE_Y: Acceleration of shove y

Acceleration of shove to vehicle in y axis

Units
meters per square second

SIM_SHOVE_Z: Acceleration of shove z

Acceleration of shove to vehicle in z axis

Units
meters per square second

SIM_SLUP_DRAG: Slung Payload drag coefficient

Note: This parameter is for advanced users

Slung Payload drag coefficient. Higher values increase drag and slow the payload more quickly

Range	Units
0 to 10	meters

SIM_SLUP_ENABLE: Slung Payload Sim enable/disable

Note: This parameter is for advanced users

Slung Payload Sim enable/disable

Values
Value Meaning 0 Disabled 1 Enabled

SIM_SLUP_LINELEN: Slung Payload line length

Note: This parameter is for advanced users

Slung Payload line length in meters

Range	Units
0 to 100	meters

SIM_SLUP_SYSID: Slung Payload MAVLink system ID

Note: This parameter is for advanced users

Slung Payload MAVLink system id to distinguish it from others on the same network

Range
0 to 255

SIM_SLUP_WEIGHT: Slung Payload weight

Note: This parameter is for advanced users

Slung Payload weight in kg

Range	Units
0 to 15	kilograms

SIM_SONAR_GLITCH: Sonar glitch probablility

Note: This parameter is for advanced users

Probablility a sonar glitch would happen

Range
0 to 1

SIM_SONAR_POS_X: Sonar Offsets

XYZ position of the sonar relative to the body frame origin (X-axis)

Units
meters

SIM_SONAR_POS_Y: Sonar Offsets

XYZ position of the sonar relative to the body frame origin (Y-axis)

Units
meters

SIM_SONAR_POS_Z: Sonar Offsets

XYZ position of the sonar relative to the body frame origin (Z-axis)

Units
meters

SIM_SONAR_RND: Sonar noise factor

Note: This parameter is for advanced users

Scaling factor for simulated sonar noise

SIM_SONAR_ROT: Sonar rotation

Sonar rotation from rotations enumeration

SIM_SONAR_SCALE: Sonar conversion scale

Sonar conversion scale from distance to voltage

Units
meters per volt

SIM_SPEEDUP: Sim Speedup

Note: This parameter is for advanced users

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_TA_ENABLE: ToneAlarm enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the simulated tonealarm

Values
Value Meaning 0 Disabled 1 Enabled

SIM_TEMP_BFACTOR: Baro temperature factor

Note: This parameter is for advanced users

A pressure change with temperature that closely matches what has been observed with a ICM-20789

SIM_TEMP_BRD_OFF: Baro temperature offset

Note: This parameter is for advanced users

Barometer board temperature offset from atmospheric temperature

Units
degrees Celsius

SIM_TEMP_START: Start temperature

Note: This parameter is for advanced users

Baro start temperature

Units
degrees Celsius

SIM_TEMP_TCONST: Warmup time constant

Note: This parameter is for advanced users

Barometer warmup temperature time constant

Units
degrees Celsius

SIM_TERRAIN: Terrain Enable

Enable using terrain for height

Values
Value Meaning 0 Disable 1 Enabled

SIM_TETH_DENSITY: Tether Wire Density

Note: This parameter is for advanced users

Linear mass density of the tether wire

Range
0 to 1

SIM_TETH_DMPCNST: Tether Damping Constant

Note: This parameter is for advanced users

Damping constant for the tether to simulate resistance based on change in stretch

Range
0 to 255

SIM_TETH_ENABLE: Tether Simulation Enable/Disable

Note: This parameter is for advanced users

Enable or disable the tether simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_TETH_LINELEN: Tether Maximum Line Length

Note: This parameter is for advanced users

Maximum length of the tether line in meters

Range	Units
0 to 100	meters

SIM_TETH_SPGCNST: Tether Spring Constant

Note: This parameter is for advanced users

Spring constant for the tether to simulate elastic forces when stretched beyond its maximum length

Range
0 to 255

SIM_TETH_STUCK: Tether Stuck Enable/Disable

Note: This parameter is for advanced users

Enable or disable a stuck tether simulation

Values
Value Meaning 0 Disabled 1 Enabled

SIM_TETH_SYSID: Tether Simulation MAVLink System ID

Note: This parameter is for advanced users

MAVLink system ID for the tether simulation, used to distinguish it from other systems on the network

Range
0 to 255

SIM_THML_SCENARI: Thermal scenarios

Scenario for thermalling simulation, for soaring

SIM_TIDE_DIR: Tide direction

Tide direction wave is coming from

Units
degrees

SIM_TIDE_SPEED: Tide speed

Tide speed in simulation

Units
meters per second

SIM_TIME_JITTER: Loop time jitter

Note: This parameter is for advanced users

Upper limit of random jitter in loop time

Units
microseconds

SIM_TWIST_TIME: Twist time

Time that twist is applied on the vehicle

Units
milliseconds

SIM_TWIST_X: Twist x

Rotational acceleration of twist x axis

Units
radians per square second

SIM_TWIST_Y: Twist y

Rotational acceleration of twist y axis

Units
radians per square second

SIM_TWIST_Z: Twist z

Rotational acceleration of twist z axis

Units
radians per square second

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_VIB_MOT_HMNC: Motor harmonics

Motor harmonics generated in SITL

SIM_VIB_MOT_MASK: Motor mask

Motor mask, allowing external simulators to mark motors

SIM_VIB_MOT_MAX: Max motor vibration frequency

Max frequency to use as baseline for adding motor noise for the gyros and accels

Units
hertz

SIM_VIB_MOT_MULT: Vibration motor scale

Amplitude scaling of motor noise relative to gyro/accel noise

SIM_VICON_FAIL: SITL vicon failure

Note: This parameter is for advanced users

SITL vicon failure

Values
Value Meaning 0 Vicon Healthy 1 Vicon Failed

SIM_VICON_GLIT_X: SITL vicon position glitch North

Note: This parameter is for advanced users

SITL vicon position glitch North

Units
meters

SIM_VICON_GLIT_Y: SITL vicon position glitch East

Note: This parameter is for advanced users

SITL vicon position glitch East

Units
meters

SIM_VICON_GLIT_Z: SITL vicon position glitch Down

Note: This parameter is for advanced users

SITL vicon position glitch Down

Units
meters

SIM_VICON_POS_X: SITL vicon position on vehicle in Forward direction

Note: This parameter is for advanced users

SITL vicon position on vehicle in Forward direction

Range	Units
0 to 10	meters

SIM_VICON_POS_Y: SITL vicon position on vehicle in Right direction

Note: This parameter is for advanced users

SITL vicon position on vehicle in Right direction

Range	Units
0 to 10	meters

SIM_VICON_POS_Z: SITL vicon position on vehicle in Down direction

Note: This parameter is for advanced users

SITL vicon position on vehicle in Down direction

Range	Units
0 to 10	meters

SIM_VICON_P_SD: SITL vicon position standard deviation for gaussian noise

Note: This parameter is for advanced users

SITL vicon position standard deviation for gaussian noise

Units
meters

SIM_VICON_RATE: SITL vicon rate

Note: This parameter is for advanced users

SITL vicon rate

Units
hertz

SIM_VICON_TMASK: SITL vicon type mask

Note: This parameter is for advanced users

SITL vicon messages sent

Bitmask
Bit Meaning 0 VISION_POSITION_ESTIMATE 1 VISION_SPEED_ESTIMATE 2 VICON_POSITION_ESTIMATE 3 VISION_POSITION_DELTA 4 ODOMETRY

SIM_VICON_VGLI_X: SITL vicon velocity glitch North

Note: This parameter is for advanced users

SITL vicon velocity glitch North

Units
meters per second

SIM_VICON_VGLI_Y: SITL vicon velocity glitch East

Note: This parameter is for advanced users

SITL vicon velocity glitch East

Units
meters per second

SIM_VICON_VGLI_Z: SITL vicon velocity glitch Down

Note: This parameter is for advanced users

SITL vicon velocity glitch Down

Units
meters per second

SIM_VICON_V_SD: SITL vicon velocity standard deviation for gaussian noise

Note: This parameter is for advanced users

SITL vicon velocity standard deviation for gaussian noise

Units
meters per second

SIM_VICON_YAW: SITL vicon yaw angle in earth frame

Note: This parameter is for advanced users

SITL vicon yaw angle in earth frame

Range	Units
0 to 360	degrees

SIM_VICON_YAWERR: SITL vicon yaw error

Note: This parameter is for advanced users

SITL vicon yaw added to reported yaw sent to vehicle

Range	Units
-180 to 180	degrees

SIM_VOLZ_ENA: Volz simulator enable/disable

Note: This parameter is for advanced users

Allows you to enable (1) or disable (0) the Volz simulator

Values
Value Meaning 0 Disabled 1 Enabled

SIM_VOLZ_FMASK: Volz fail mask

Note: This parameter is for advanced users

fail servo at current position. Channel 1 is bit 0.

SIM_VOLZ_MASK: Volz override mask

Note: This parameter is for advanced users

mask of servo output channels to override with values from Volz protocol. Note these are indexed from 0 - so channel 3 (usually throttle) has value 4 in this bitmask (1<<2).

SIM_WAVE_AMP: Wave amplitude

Wave amplitude in SITL

Units
meters

SIM_WAVE_DIR: Wave direction

Direction wave is coming from

Units
degrees

SIM_WAVE_ENABLE: Wave enable

Wave enable and modes

Values
Value Meaning 0 disabled 1 roll and pitch 2 roll and pitch and heave

SIM_WAVE_LENGTH: Wave length

Wave length in SITL

Units
meters

SIM_WAVE_SPEED: Wave speed

Wave speed in SITL

Units
meters per second

SIM_WIND_DIR: Direction simulated wind is coming from

Note: This parameter is for advanced users

Allows you to set wind direction (true deg) in sim

Units
degrees

SIM_WIND_DIR_Z: Simulated wind vertical direction

Note: This parameter is for advanced users

Allows you to set vertical wind direction (true deg) in sim. 0 means pure horizontal wind. 90 means pure updraft.

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_T: Wind Profile Type

Note: This parameter is for advanced users

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_TC: Wind variation time constant

Note: This parameter is for advanced users

this controls the time over which wind changes take effect

Units
seconds

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_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

TEMP Parameters

TEMP_LOG: Logging

Enables temperature sensor logging

Values
Value Meaning 0 Disabled 1 Log all instances 2 Log only instances with sensor source set to None

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP1_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP1_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP1_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP1_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP1_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP2_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP2_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP2_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP2_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP2_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP3_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP3_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP3_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP3_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP3_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP4_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP4_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP4_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP4_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP4_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP5_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP5_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP5_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP5_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP5_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP6_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP6_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP6_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP6_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP6_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP7_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP7_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP7_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP7_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP7_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP8_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP8_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP8_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP8_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP8_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

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 2 or 4 wire 4 TSYS03 5 Analog 6 DroneCAN 7 MLX90614 8 SHT3x 9 MAX31865 3 wire

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 3 Battery Index 4 Battery ID/SerialNumber 5 CAN based Pitot tube 6 DroneCAN-out on AP_Periph

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.

TEMP9_PIN: Temperature sensor analog voltage sensing pin

Sets the analog input pin that should be used for temprature monitoring. Values for some autopilots are given as examples. Search wiki for "Analog pins".

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

TEMP9_A0: Temperature sensor analog 0th polynomial coefficient

a0 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A1: Temperature sensor analog 1st polynomial coefficient

a1 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A2: Temperature sensor analog 2nd polynomial coefficient

a2 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A3: Temperature sensor analog 3rd polynomial coefficient

a3 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A4: Temperature sensor analog 4th polynomial coefficient

a4 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_A5: Temperature sensor analog 5th polynomial coefficient

a5 in polynomial of form temperature in deg = a0 + a1*voltage + a2*voltage^2 + a3*voltage^3 + a4*voltage^4 + a5*voltage^5

TEMP9_MSG_ID: Temperature sensor DroneCAN message ID

Sets the message device ID this backend listens for

Range
0 to 65535

TEMP9_RTD_NOM: Nominal RTD resistance

Nominal RTD resistance used to calculate temperature, typically 100 or 1000 ohms.

TEMP9_RTD_REF: RTD reference resistance

Reference resistance used to calculate temperature, in ohms

UART0_ Parameters

UART0_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART0_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART1_ Parameters

UART1_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART1_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART2_ Parameters

UART2_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART2_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART3_ Parameters

UART3_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART3_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART4_ Parameters

UART4_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART4_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART5_ Parameters

UART5_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART5_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART6_ Parameters

UART6_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART6_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART7_ Parameters

UART7_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART7_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART8_ Parameters

UART8_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART8_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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

UART9_ Parameters

UART9_OPTIONS: Serial options

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.

Bitmask
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

UART9_RTSCTS: Serial1 flow control

Enable flow control. You must have the RTS and CTS pins available on the port. 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