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¶
This value is incremented when changes are made to the eeprom format
CAN_NODE: DroneCAN node ID used by this node on all networks¶
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¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN_SLCAN_CPORT: SLCAN Route¶
CAN Interface ID to be routed to SLCAN, 0 means no routing
Values |
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CAN_TERMINATE: Enable CAN software termination in this node¶
Enable CAN software termination in this node
Values |
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|---|---|---|---|---|---|---|
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CAN_PROTOCOL: Enable use of specific protocol to be used on this port¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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CAN2_BAUDRATE: Bitrate of CAN2 interface¶
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¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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CAN2_TERMINATE: Enable CAN software termination in this node¶
Enable CAN software termination in this node
Values |
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|---|---|---|---|---|---|---|
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CAN3_BAUDRATE: Bitrate of CAN3 interface¶
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¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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CAN3_TERMINATE: Enable CAN software termination in this node¶
Enable CAN software termination in this node
Values |
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|---|---|---|---|---|---|---|
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CAN_FDMODE: Enable CANFD mode¶
Enabling this option sets the CAN bus to be in CANFD mode with BRS.
Values |
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|---|---|---|---|---|---|---|
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CAN_FDBAUDRATE: Set up bitrate for data section on CAN1¶
This sets the bitrate for the data section of CAN1.
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
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CAN2_FDBAUDRATE: Set up bitrate for data section on CAN2¶
This sets the bitrate for the data section of CAN2.
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
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FLASH_BOOTLOADER: Trigger bootloader update¶
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¶
Debug
Bitmask |
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|---|---|---|---|---|---|---|---|---|
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BRD_SERIAL_NUM: Serial number of device¶
Non-zero positive values will be shown on the CAN App Name string
Range |
|---|
0 to 2147483648 |
BUZZER_VOLUME: Buzzer volume¶
Control the volume of the buzzer
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
GPS_PORT: GPS Serial Port¶
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¶
Autoselect dedicated CAN port on which moving baseline data will be transmitted.
Values |
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|---|---|---|---|---|---|---|
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BATT_HIDE_MASK: Battery hide mask¶
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 |
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BARO_ENABLE: Barometer Enable¶
Barometer Enable
Values |
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|---|---|---|---|---|---|---|
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LED_BRIGHTNESS: LED Brightness¶
Select the RGB LED brightness level.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
RNGFND_BAUDRATE: Rangefinder serial baudrate¶
Rangefinder serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
RNGFND_PORT: Rangefinder Serial Port¶
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¶
Rangefinder serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
RNGFND2_PORT: Rangefinder Serial Port¶
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¶
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¶
ADSB serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
ADSB_PORT: ADSB Serial Port¶
This is the serial port number where SERIALx_PROTOCOL will be set to ADSB.
Increment |
Range |
|---|---|
1 |
0 to 10 |
HARDPOINT_ID: Hardpoint ID¶
Hardpoint ID
HARDPOINT_RATE: Hardpoint PWM rate¶
Hardpoint PWM rate
Increment |
Range |
Units |
|---|---|---|
1 |
10 to 100 |
hertz |
ESC_NUMBER: ESC number¶
This is the ESC number to report as in UAVCAN ESC telemetry feedback packets.
Increment |
|---|
1 |
ESC_RATE: ESC Update Rate¶
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¶
This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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ESC_CMD_TIMO: ESC Command Timeout¶
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¶
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¶
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¶
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 |
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|---|---|---|---|---|
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EFI_BAUDRATE: EFI serial baudrate¶
EFI serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
EFI_PORT: EFI Serial Port¶
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¶
Proximity Sensor serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
PRX_PORT: Proximity Sensor Serial Port¶
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¶
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¶
Which serial port to use for APD ESC data
Increment |
Range |
|---|---|
1 |
0 to 6 |
ESC_APD_SERIAL_2: ESC APD Serial 2¶
Which serial port to use for APD ESC data
Increment |
Range |
|---|---|
1 |
0 to 6 |
CAN_MIRROR_PORTS: CAN ports to mirror traffic between¶
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 |
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|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|
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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¶
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 |
AHRS_ Parameters¶
AHRS_GPS_GAIN: AHRS GPS gain¶
This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.
Increment |
Range |
|---|---|
0.01 |
0.0 to 1.0 |
AHRS_YAW_P: Yaw P¶
This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
Increment |
Range |
|---|---|
0.01 |
0.1 to 0.4 |
AHRS_RP_P: AHRS RP_P¶
This controls how fast the accelerometers correct the attitude
Increment |
Range |
|---|---|
0.01 |
0.1 to 0.4 |
AHRS_WIND_MAX: Maximum wind¶
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¶
Not Used
Increment |
Range |
Units |
|---|---|---|
0.01 |
-0.1745 to +0.1745 |
radians |
AHRS_ORIENTATION: Board Orientation¶
Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. 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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶
This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
Increment |
Range |
|---|---|
0.01 |
0.001 to 0.5 |
AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶
Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
Increment |
Range |
|---|---|
1 |
0 to 10 |
AHRS_CUSTOM_ROLL: Board orientation roll offset¶
Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_CUSTOM_PIT: Board orientation pitch offset¶
Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_CUSTOM_YAW: Board orientation yaw offset¶
Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
AHRS_OPTIONS: Optional AHRS behaviour¶
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 |
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|---|---|---|---|---|---|---|---|---|
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ARSPD Parameters¶
ARSPD_ENABLE: Airspeed Enable¶
Enable airspeed sensor support
Values |
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|---|---|---|---|---|---|---|
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ARSPD_TUBE_ORDER: Control pitot tube order¶
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 |
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|---|---|---|---|---|---|---|---|---|
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ARSPD_PRIMARY: Primary airspeed sensor¶
This selects which airspeed sensor will be the primary if multiple sensors are found
Values |
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|---|---|---|---|---|---|---|
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ARSPD_OPTIONS: Airspeed options bitmask¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
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ARSPD_WIND_MAX: Maximum airspeed and ground speed difference¶
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¶
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¶
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¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|
|
ARSPD2_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
|---|
0.1 |
ARSPD2_RATIO: Airspeed ratio¶
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¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD2_AUTOCAL: Automatic airspeed ratio calibration¶
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¶
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 |
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|---|---|---|---|---|---|---|---|---|
|
ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup¶
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 |
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|---|---|---|---|---|---|---|---|---|
|
ARSPD2_PSI_RANGE: The PSI range of the device¶
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¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD2_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
ARSPD_ Parameters¶
ARSPD_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
|---|
0.1 |
ARSPD_RATIO: Airspeed ratio¶
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¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_AUTOCAL: Automatic airspeed ratio calibration¶
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¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_PSI_RANGE: The PSI range of the device¶
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¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_DEVID: Airspeed ID¶
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¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO_GND_TEMP: ground temperature¶
User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.
Increment |
Units |
Volatile |
|---|---|---|
1 |
degrees Celsius |
True |
BARO_ALT_OFFSET: altitude offset¶
altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
Increment |
Units |
|---|---|
0.1 |
meters |
BARO_PRIMARY: Primary barometer¶
This selects which barometer will be the primary if multiple barometers are found
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
BARO_EXT_BUS: External baro bus¶
This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BARO2_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO3_GND_PRESS: Absolute Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
BARO_PROBE_EXT: External barometers to probe¶
This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on 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 |
||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BARO1_DEVID: Baro ID¶
Barometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO2_DEVID: Baro ID2¶
Barometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO3_DEVID: Baro ID3¶
Barometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO_FIELD_ELV: field elevation¶
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¶
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¶
Barometer options
Bitmask |
||||
|---|---|---|---|---|
|
BARO1_THST_SCALE: Thrust compensation¶
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¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_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)¶
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)¶
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)¶
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)¶
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)¶
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¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_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)¶
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)¶
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)¶
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)¶
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)¶
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¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_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)¶
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)¶
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)¶
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)¶
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)¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT2_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT2_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT2_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT2_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT2_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT2_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT2_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT2_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT2_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT2_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT2_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT2_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT2_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT2_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT2_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT3_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT3_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT3_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT3_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT3_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT3_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT3_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT3_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT3_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT3_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT3_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT3_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT3_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT3_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT3_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT4_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT4_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT4_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT4_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT4_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT4_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT4_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT4_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT4_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT4_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT4_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT4_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT4_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT4_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT4_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT5_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT5_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT5_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT5_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT5_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT5_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT5_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT5_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT5_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT5_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT5_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT5_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT5_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT5_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT5_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT6_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT6_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT6_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT6_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT6_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT6_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT6_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT6_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT6_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT6_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT6_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT6_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT6_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT6_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT6_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT7_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT7_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT7_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT7_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT7_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT7_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT7_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT7_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT7_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT7_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT7_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT7_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT7_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT7_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT7_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT8_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT8_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT8_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT8_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT8_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT8_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT8_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT8_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT8_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT8_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT8_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT8_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT8_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT8_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT8_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT9_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT9_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT9_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT9_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT9_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT9_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT9_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT9_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT9_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT9_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT9_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT9_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT9_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT9_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT9_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTA_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTA_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTA_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTA_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTA_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTA_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTA_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTA_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTA_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTA_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTA_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTA_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTA_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTB_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTB_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTB_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTB_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTB_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTB_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTB_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTB_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTB_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTB_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTB_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTB_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTB_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTC_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTC_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTC_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTC_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTC_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTC_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTC_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTC_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTC_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTC_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTC_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTC_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTC_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTD_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTD_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTD_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTD_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTD_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTD_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTD_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTD_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTD_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTD_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTD_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTD_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTD_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTE_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTE_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTE_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTE_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTE_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTE_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTE_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTE_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTE_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTE_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTE_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTE_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTE_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTF_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTF_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTF_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTF_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTF_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTF_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTF_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTF_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTF_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTF_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTF_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTF_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTF_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATTG_SERIAL_NUM: Battery serial number¶
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¶
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¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTG_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATTG_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATTG_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATTG_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATTG_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTG_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATTG_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATTG_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATTG_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATTG_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTG_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATTG_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
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¶
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¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT_ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_ESC_INDEX: ESC Telemetry Index to write to¶
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¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_PIN (AP_BattMonitor_Analog): Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_VOLT_MULT (AP_BattMonitor_Analog): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT_AMP_PERVLT (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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_MULT: Scales reported power monitor current¶
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¶
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¶
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_FL_FF: First order term¶
First order polynomial fit term
Range |
|---|
-10 to 10 |
BATT_FL_FS: Second order term¶
Second order polynomial fit term
Range |
|---|
-10 to 10 |
BATT_FL_FT: Third order term¶
Third order polynomial fit term
Range |
|---|
-10 to 10 |
BATT_FL_OFF: Offset term¶
Offset polynomial fit term
Range |
|---|
-10 to 10 |
BATT_MAX_VOLT: Maximum Battery Voltage¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_MAX_AMPS (AP_BattMonitor_INA239): Battery monitor max current¶
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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT_I2C_ADDR (AP_BattMonitor_INA3221): Battery monitor I2C address¶
Battery monitor I2C address. If this is zero then probe list of supported addresses
Range |
|---|
0 to 127 |
BATT_CHANNEL: INA3221 channel¶
INA3221 channel to return data for
Range |
|---|
1 to 3 |
BATT_VOLT_PIN (AP_BattMonitor_AD7091R5): Battery Voltage sensing pin on the AD7091R5 Ic¶
Sets the analog input pin that should be used for voltage monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT_CURR_PIN (AP_BattMonitor_AD7091R5): Battery Current sensing pin¶
Sets the analog input pin that should be used for Current monitoring on AD7091R5.
Values |
||||
|---|---|---|---|---|
|
BATT_VOLT_MULT (AP_BattMonitor_AD7091R5): Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT).
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¶
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 |
COMPASS_ Parameters¶
COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶
Offset to be added to the compass x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶
Offset to be added to the compass y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶
Offset to be added to the compass z-axis values to compensate for metal in the frame
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¶
Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE: Use compass for yaw¶
Enable or disable the use of the compass (instead of the GPS) for determining heading
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_AUTODEC: Auto Declination¶
Enable or disable the automatic calculation of the declination based on gps location
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_MOTCT: Motor interference compensation type¶
Set motor interference compensation type to disabled, throttle or current. Do not change manually.
Calibration |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|
1 |
|
COMPASS_MOT_X: Motor interference compensation for body frame X axis¶
Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶
Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶
Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_ORIENT: Compass orientation¶
The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. 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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERNAL: Compass is attached via an external cable¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶
Offset to be added to compass2's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶
Offset to be added to compass2's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶
Offset to be added to compass2's z-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis¶
Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis¶
Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis¶
Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶
Offset to be added to compass3's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶
Offset to be added to compass3's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶
Offset to be added to compass3's z-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis¶
Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis¶
Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis¶
Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_DEV_ID: Compass device id¶
Compass device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID2: Compass2 device id¶
Second compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID3: Compass3 device id¶
Third compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_USE2: Compass2 used for yaw¶
Enable or disable the secondary compass for determining heading.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_ORIENT2: Compass2 orientation¶
The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. 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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN2: Compass2 is attached via an external cable¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE3: Compass3 used for yaw¶
Enable or disable the tertiary compass for determining heading.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_ORIENT3: Compass3 orientation¶
The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. 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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN3: Compass3 is attached via an external cable¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_DIA_X: Compass soft-iron diagonal X component¶
DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶
DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶
DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶
ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶
ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶
ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶
DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶
DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶
DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶
ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶
ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶
ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶
DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶
DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶
DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶
ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶
ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶
ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_CAL_FIT: Compass calibration fitness¶
This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
Increment |
Range |
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
0.1 |
4 to 32 |
|
COMPASS_OFFS_MAX: Compass maximum offset¶
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¶
This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
|---|---|---|
1 |
0 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 |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_PRIO1_ID: Compass device id with 1st order priority¶
Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO2_ID: Compass device id with 2nd order priority¶
Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO3_ID: Compass device id with 3rd order priority¶
Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
COMPASS_ENABLE: Enable Compass¶
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_SCALE: Compass1 scale factor¶
Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
|---|
0 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¶
This sets options to change the behaviour of the compass
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_DEV_ID4: Compass4 device id¶
Extra 4th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID5: Compass5 device id¶
Extra 5th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID6: Compass6 device id¶
Extra 6th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID7: Compass7 device id¶
Extra 7th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID8: Compass8 device id¶
Extra 8th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_CUS_ROLL: Custom orientation roll offset¶
Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_CUS_PIT: Custom orientation pitch offset¶
Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_CUS_YAW: Custom orientation yaw offset¶
Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_PMOT Parameters¶
COMPASS_PMOT_EN: per-motor compass correction enable¶
This enables per-motor compass corrections
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_PMOT_EXP: per-motor exponential correction¶
This is the exponential correction for the power output of the motor for per-motor compass correction
Increment |
Range |
|---|---|
0.01 |
0 to 2 |
COMPASS_PMOT1_X: Compass per-motor1 X¶
Compensation for X axis of motor1
COMPASS_PMOT1_Y: Compass per-motor1 Y¶
Compensation for Y axis of motor1
COMPASS_PMOT1_Z: Compass per-motor1 Z¶
Compensation for Z axis of motor1
COMPASS_PMOT2_X: Compass per-motor2 X¶
Compensation for X axis of motor2
COMPASS_PMOT2_Y: Compass per-motor2 Y¶
Compensation for Y axis of motor2
COMPASS_PMOT2_Z: Compass per-motor2 Z¶
Compensation for Z axis of motor2
COMPASS_PMOT3_X: Compass per-motor3 X¶
Compensation for X axis of motor3
COMPASS_PMOT3_Y: Compass per-motor3 Y¶
Compensation for Y axis of motor3
COMPASS_PMOT3_Z: Compass per-motor3 Z¶
Compensation for Z axis of motor3
COMPASS_PMOT4_X: Compass per-motor4 X¶
Compensation for X axis of motor4
COMPASS_PMOT4_Y: Compass per-motor4 Y¶
Compensation for Y axis of motor4
COMPASS_PMOT4_Z: Compass per-motor4 Z¶
Compensation for Z axis of motor4
DAC1_ Parameters¶
DAC1_TYPE: DAC Type¶
DAC Type
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
DAC1_BUS: I2C bus¶
I2C bus number
Range |
|---|
0 to 3 |
DAC1_ADDR: I2C address¶
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¶
What method of communication is used for EFI #1
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EFI_COEF1: EFI Calibration Coefficient 1¶
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¶
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¶
Used to calculate fuel consumption
Range |
Units |
|---|---|
0 to 10000 |
kilograms per cubic meter |
EFI_THRLIN Parameters¶
EFI_THRLIN_EN: Enable throttle linearisation¶
Enable EFI throttle linearisation
Values |
||||||
|---|---|---|---|---|---|---|
|
EFI_THRLIN_COEF1: Throttle linearisation - First Order¶
First Order Polynomial Coefficient. (=1, if throttle is first order polynomial trendline)
Range |
|---|
-1 to 1 |
EFI_THRLIN_COEF2: Throttle linearisation - Second Order¶
Second Order Polynomial Coefficient (=0, if throttle is second order polynomial trendline)
Range |
|---|
-1 to 1 |
EFI_THRLIN_COEF3: Throttle linearisation - Third Order¶
Third Order Polynomial Coefficient. (=0, if throttle is third order polynomial trendline)
Range |
|---|
-1 to 1 |
EFI_THRLIN_OFS: throttle linearization offset¶
Offset for throttle linearization
Range |
|---|
0 to 100 |
GPS Parameters¶
GPS_AUTO_SWITCH: Automatic Switchover Setting¶
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_SBAS_MODE: SBAS Mode¶
This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_MIN_ELEV: Minimum elevation¶
This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.
Range |
Units |
|---|---|
-100 to 90 |
degrees |
GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶
The GGS can send raw serial packets to inject data to multiple GPSes.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_RAW_DATA: Raw data logging¶
Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_SAVE_CFG: Save GPS configuration¶
Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_AUTO_CONFIG: Automatic GPS configuration¶
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_BLEND_MASK: Multi GPS Blending Mask¶
Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_DRV_OPTIONS: driver options¶
Additional backend specific options
Bitmask |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_PRIMARY: Primary GPS¶
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
Increment |
Values |
||||||
|---|---|---|---|---|---|---|---|
1 |
|
GPS1_ Parameters¶
GPS1_TYPE: GPS type¶
GPS type
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS1_GNSS_MODE: GNSS system configuration¶
Bitmask for what GNSS system to use (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS1_RATE_MS: GPS update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|---|
50 to 200 |
milliseconds |
|
GPS1_POS_X: Antenna X position offset¶
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS1_POS_Y: Antenna Y position offset¶
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS1_POS_Z: Antenna Z position offset¶
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS1_DELAY_MS: GPS delay in milliseconds¶
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Range |
Units |
|---|---|
0 to 250 |
milliseconds |
GPS1_COM_PORT: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
Increment |
Range |
Values |
||||||
|---|---|---|---|---|---|---|---|---|
1 |
0 to 10 |
|
GPS1_CAN_NODEID: Detected CAN Node ID for GPS¶
GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
ReadOnly |
|---|
True |
GPS1_CAN_OVRIDE: DroneCAN GPS NODE ID¶
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¶
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS1_MB_OFS_X: Base antenna X position offset¶
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¶
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¶
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¶
GPS type
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS2_GNSS_MODE: GNSS system configuration¶
Bitmask for what GNSS system to use (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS2_RATE_MS: GPS update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|---|
50 to 200 |
milliseconds |
|
GPS2_POS_X: Antenna X position offset¶
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_POS_Y: Antenna Y position offset¶
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_POS_Z: Antenna Z position offset¶
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS2_DELAY_MS: GPS delay in milliseconds¶
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Range |
Units |
|---|---|
0 to 250 |
milliseconds |
GPS2_COM_PORT: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF and GSOF GPS
Increment |
Range |
Values |
||||||
|---|---|---|---|---|---|---|---|---|
1 |
0 to 10 |
|
GPS2_CAN_NODEID: Detected CAN Node ID for GPS¶
GPS Node id for GPS. Detected node unless CAN_OVRIDE is set
ReadOnly |
|---|
True |
GPS2_CAN_OVRIDE: DroneCAN GPS NODE ID¶
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¶
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS2_MB_OFS_X: Base antenna X position offset¶
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¶
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¶
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¶
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS_MB1_OFS_X: Base antenna X position offset¶
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¶
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¶
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¶
Controls the type of moving base used if using moving base.This is renamed in 4.6 and later to GPSx_MB_TYPE.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS_MB2_OFS_X: Base antenna X position offset¶
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¶
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¶
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¶
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYROFFS_Y: Gyro offsets of Y axis¶
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYROFFS_Z: Gyro offsets of Z axis¶
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR2OFFS_X: Gyro2 offsets of X axis¶
Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR2OFFS_Y: Gyro2 offsets of Y axis¶
Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR2OFFS_Z: Gyro2 offsets of Z axis¶
Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR3OFFS_X: Gyro3 offsets of X axis¶
Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR3OFFS_Y: Gyro3 offsets of Y axis¶
Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_GYR3OFFS_Z: Gyro3 offsets of Z axis¶
Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS_ACCSCAL_X: Accelerometer scaling of X axis¶
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACCSCAL_Y: Accelerometer scaling of Y axis¶
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACCSCAL_Z: Accelerometer scaling of Z axis¶
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACCOFFS_X: Accelerometer offsets of X axis¶
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACCOFFS_Y: Accelerometer offsets of Y axis¶
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACCOFFS_Z: Accelerometer offsets of Z axis¶
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC2SCAL_X: Accelerometer2 scaling of X axis¶
Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis¶
Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis¶
Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC2OFFS_X: Accelerometer2 offsets of X axis¶
Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis¶
Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis¶
Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC3SCAL_X: Accelerometer3 scaling of X axis¶
Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis¶
Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis¶
Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
|---|---|
1 |
0.8 to 1.2 |
INS_ACC3OFFS_X: Accelerometer3 offsets of X axis¶
Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis¶
Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis¶
Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
|---|---|---|
1 |
-3.5 to 3.5 |
meters per square second |
INS_GYRO_FILTER: Gyro filter cutoff frequency¶
Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Range |
Units |
|---|---|
0 to 256 |
hertz |
INS_ACCEL_FILTER: Accel filter cutoff frequency¶
Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Range |
Units |
|---|---|
0 to 256 |
hertz |
INS_USE: Use first IMU for attitude, velocity and position estimates¶
Use first IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_USE2: Use second IMU for attitude, velocity and position estimates¶
Use second IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_USE3: Use third IMU for attitude, velocity and position estimates¶
Use third IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_STILL_THRESH: Stillness threshold for detecting if we are moving¶
Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
Range |
|---|
0.05 to 50 |
INS_GYR_CAL: Gyro Calibration scheme¶
Conrols when automatic gyro calibration is performed
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_TRIM_OPTION: Accel cal trim option¶
Specifies how the accel cal routine determines the trims
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_ACC_BODYFIX: Body-fixed accelerometer¶
The body-fixed accelerometer to be used for trim calculation
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_POS1_X: IMU accelerometer X position¶
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS1_Y: IMU accelerometer Y position¶
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS1_Z: IMU accelerometer Z position¶
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS2_X: IMU accelerometer X position¶
X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS2_Y: IMU accelerometer Y position¶
Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS2_Z: IMU accelerometer Z position¶
Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS3_X: IMU accelerometer X position¶
X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Range |
Units |
|---|---|
-10 to 10 |
meters |
INS_POS3_Y: IMU accelerometer Y position¶
Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_POS3_Z: IMU accelerometer Z position¶
Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
INS_GYR_ID: Gyro ID¶
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_GYR2_ID: Gyro2 ID¶
Gyro2 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_GYR3_ID: Gyro3 ID¶
Gyro3 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_ACC2_ID: Accelerometer2 ID¶
Accelerometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_ACC3_ID: Accelerometer3 ID¶
Accelerometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS_FAST_SAMPLE: Fast sampling mask¶
Mask of IMUs to enable fast sampling on, if available
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_ENABLE_MASK: IMU enable mask¶
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled¶
Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer¶
Temperature that the 1st accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope¶
Temperature that the 1st gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer¶
Temperature that the 2nd accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope¶
Temperature that the 2nd gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer¶
Temperature that the 3rd accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope¶
Temperature that the 3rd gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS_TCAL_OPTIONS: Options for temperature calibration¶
This enables optional temperature calibration features. Setting 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 |
||||||
|---|---|---|---|---|---|---|
|
INS_RAW_LOG_OPT: Raw logging options¶
Raw logging options bitmask
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
INS4_ Parameters¶
INS4_USE: Use first IMU for attitude, velocity and position estimates¶
Use first IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS4_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS4_ACCSCAL_X: Accelerometer scaling of X axis¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
Temperature that the accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS4_GYR_ID: Gyro ID¶
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS4_GYROFFS_X: Gyro offsets of X axis¶
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS4_GYROFFS_Y: Gyro offsets of Y axis¶
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS4_GYROFFS_Z: Gyro offsets of Z axis¶
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS4_GYR_CALTEMP: Calibration temperature for gyroscope¶
Temperature that the gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS4_TCAL_ Parameters¶
INS4_TCAL_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS4_TCAL_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS4_TCAL_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS4_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS4_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
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¶
Use first IMU for attitude, velocity and position estimates
Values |
||||||
|---|---|---|---|---|---|---|
|
INS5_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS5_ACCSCAL_X: Accelerometer scaling of X axis¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
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¶
Temperature that the accelerometer was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS5_GYR_ID: Gyro ID¶
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
INS5_GYROFFS_X: Gyro offsets of X axis¶
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS5_GYROFFS_Y: Gyro offsets of Y axis¶
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS5_GYROFFS_Z: Gyro offsets of Z axis¶
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
|---|---|
1 |
radians per second |
INS5_GYR_CALTEMP: Calibration temperature for gyroscope¶
Temperature that the gyroscope was calibrated at
Calibration |
Units |
|---|---|
1 |
degrees Celsius |
INS5_TCAL_ Parameters¶
INS5_TCAL_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS5_TCAL_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS5_TCAL_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS5_TCAL_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS5_TCAL_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_HNTC2_ Parameters¶
INS_HNTC2_ENABLE: Harmonic Notch Filter enable¶
Harmonic Notch Filter enable
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_HNTC2_FREQ: Harmonic Notch Filter base frequency¶
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¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTC2_REF: Harmonic Notch Filter reference value¶
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Range |
|---|
0.0 to 1.0 |
INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode¶
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based 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 |
|
INS_HNTC2_OPTS: Harmonic Notch Filter options¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTC2_FM_RAT: Throttle notch min frequency ratio¶
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¶
Harmonic Notch Filter enable
Values |
||||||
|---|---|---|---|---|---|---|
|
INS_HNTCH_FREQ: Harmonic Notch Filter base frequency¶
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¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTCH_REF: Harmonic Notch Filter reference value¶
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Range |
|---|
0.0 to 1.0 |
INS_HNTCH_MODE: Harmonic Notch Filter dynamic frequency tracking mode¶
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based 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 |
|
INS_HNTCH_OPTS: Harmonic Notch Filter options¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTCH_FM_RAT: Throttle notch min frequency ratio¶
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¶
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¶
Bitmap of which IMUs to log batch data for. This option takes effect on the next reboot.
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_LOG_BAT_OPT: Batch Logging Options Mask¶
Options for the BatchSampler.
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_LOG_BAT_LGIN: logging interval¶
Interval between pushing samples to the AP_Logger log
Increment |
Units |
|---|---|
10 |
milliseconds |
INS_LOG_BAT_LGCT: logging count¶
Number of samples to push to count every INS_LOG_BAT_LGIN
Increment |
|---|
1 |
INS_TCAL1_ Parameters¶
INS_TCAL1_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_TCAL1_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL1_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL1_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL1_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ Parameters¶
INS_TCAL2_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_TCAL2_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL2_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL2_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL2_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ Parameters¶
INS_TCAL3_ENABLE: Enable temperature calibration¶
Enable the use of temperature calibration parameters for this IMU. For automatic learning set to 2 and also set the INS_TCALn_TMAX to the target temperature, then reboot
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
INS_TCAL3_TMIN: Temperature calibration min¶
The minimum temperature that the calibration is valid for
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL3_TMAX: Temperature calibration max¶
The maximum temperature that the calibration is valid for. This must be at least 10 degrees above TMIN for calibration
Calibration |
Range |
Units |
|---|---|---|
1 |
-70 to 80 |
degrees Celsius |
INS_TCAL3_ACC1_X: Accelerometer 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC1_Y: Accelerometer 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC1_Z: Accelerometer 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC2_X: Accelerometer 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC2_Y: Accelerometer 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC2_Z: Accelerometer 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC3_X: Accelerometer 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC3_Y: Accelerometer 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_ACC3_Z: Accelerometer 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR1_X: Gyroscope 1st order temperature coefficient X axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR1_Y: Gyroscope 1st order temperature coefficient Y axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR1_Z: Gyroscope 1st order temperature coefficient Z axis¶
This is the 1st order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR2_X: Gyroscope 2nd order temperature coefficient X axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR2_Y: Gyroscope 2nd order temperature coefficient Y axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR2_Z: Gyroscope 2nd order temperature coefficient Z axis¶
This is the 2nd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR3_X: Gyroscope 3rd order temperature coefficient X axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR3_Y: Gyroscope 3rd order temperature coefficient Y axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
INS_TCAL3_GYR3_Z: Gyroscope 3rd order temperature coefficient Z axis¶
This is the 3rd order temperature coefficient from a temperature calibration
Calibration |
|---|
1 |
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
LOG_FILE_BUFSIZE: Logging File and Block Backend buffer size max (in kilobytes)¶
The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce "gaps" in your SD card logging but increases memory usage. This buffer size may be reduced to free up available memory
Range |
Units |
|---|---|
4 to 200 |
kilobytes |
LOG_DISARMED: Enable logging while disarmed¶
If LOG_DISARMED is set to 1 then logging will be enabled at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes. If LOG_DISARMED is set to 3 then logging will happen while disarmed, but if the vehicle never arms then the logs using the filesystem backend will be discarded on the next boot.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
LOG_FILE_DSRMROT: Stop logging to current file on disarm¶
When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.
Values |
||||||
|---|---|---|---|---|---|---|
|
LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size¶
Maximum amount of memory to allocate to AP_Logger-over-mavlink
Units |
|---|
kilobytes |
LOG_FILE_TIMEOUT: Timeout before giving up on file writes¶
This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.
Units |
|---|
seconds |
LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space¶
Set this such that the free space is larger than your largest typical flight log
Range |
Units |
|---|---|
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¶
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¶
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¶
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¶
Alters various behaviour of the MAVLink interface
Bitmask |
||||
|---|---|---|---|---|
|
MAV_TELEM_DELAY: Telemetry startup delay¶
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 30 |
seconds |
MAV1 Parameters¶
MAV1_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV1_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV1_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV1_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV10 Parameters¶
MAV10_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV10_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV10_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV10_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV2 Parameters¶
MAV2_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV2_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV2_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV2_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV3 Parameters¶
MAV3_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV3_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV3_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV3_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV4 Parameters¶
MAV4_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV4_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV4_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV4_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV5 Parameters¶
MAV5_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV5_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV5_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV5_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV6 Parameters¶
MAV6_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV6_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV6_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV6_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV7 Parameters¶
MAV7_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV7_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV7_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV7_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV8 Parameters¶
MAV8_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV8_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV8_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV8_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV9 Parameters¶
MAV9_RAW_SENS: Raw sensor stream rate¶
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¶
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¶
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¶
MAVLink Raw Control stream rate of SERVO_OUT
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV9_POSITION: Position stream rate¶
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¶
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¶
MAVLink Stream rate of VFR_HUD
Increment |
Range |
|---|---|
1 |
0 to 50 |
MAV9_EXTRA3: Extra data type 3 stream rate¶
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¶
MAVLink Stream rate of PARAM_VALUE
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
MAV9_ADSB: ADSB stream rate¶
MAVLink ADSB stream rate
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 50 |
hertz |
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 |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P1_ Parameters¶
NET_P1_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P1_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P1_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P1_IP Parameters¶
NET_P1_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P1_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P1_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P1_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P2_ Parameters¶
NET_P2_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P2_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P2_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P2_IP Parameters¶
NET_P2_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P2_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P2_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P2_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P3_ Parameters¶
NET_P3_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P3_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P3_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P3_IP Parameters¶
NET_P3_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P3_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P3_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P3_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P4_ Parameters¶
NET_P4_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P4_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P4_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P4_IP Parameters¶
NET_P4_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P4_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P4_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P4_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P5_ Parameters¶
NET_P5_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P5_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P5_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P5_IP Parameters¶
NET_P5_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P5_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P5_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P5_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P6_ Parameters¶
NET_P6_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P6_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P6_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P6_IP Parameters¶
NET_P6_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P6_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P6_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P6_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P7_ Parameters¶
NET_P7_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P7_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P7_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P7_IP Parameters¶
NET_P7_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P7_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P7_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P7_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P8_ Parameters¶
NET_P8_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P8_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P8_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P8_IP Parameters¶
NET_P8_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P8_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P8_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P8_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_P9_ Parameters¶
NET_P9_TYPE: Port type¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P9_PROTOCOL: Protocol¶
Networked serial port protocol
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_P9_PORT: Port number¶
Port number
Range |
|---|
0 to 65535 |
NET_P9_IP Parameters¶
NET_P9_IP0: IPv4 Address 1st byte¶
IPv4 address. Example: 192.xxx.xxx.xxx
Range |
|---|
0 to 255 |
NET_P9_IP1: IPv4 Address 2nd byte¶
IPv4 address. Example: xxx.168.xxx.xxx
Range |
|---|
0 to 255 |
NET_P9_IP2: IPv4 Address 3rd byte¶
IPv4 address. Example: xxx.xxx.144.xxx
Range |
|---|
0 to 255 |
NET_P9_IP3: IPv4 Address 4th byte¶
IPv4 address. Example: xxx.xxx.xxx.14
Range |
|---|
0 to 255 |
NET_PASS1_ Parameters¶
NET_PASS1_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS1_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS1_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS1_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS1_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS1_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS1_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS2_ Parameters¶
NET_PASS2_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS2_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS2_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS2_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS2_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS2_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS2_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS3_ Parameters¶
NET_PASS3_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS3_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS3_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS3_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS3_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS3_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS3_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS4_ Parameters¶
NET_PASS4_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS4_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS4_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS4_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS4_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS4_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS4_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS5_ Parameters¶
NET_PASS5_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS5_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS5_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS5_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS5_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS5_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS5_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS6_ Parameters¶
NET_PASS6_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS6_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS6_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS6_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS6_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS6_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS6_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS7_ Parameters¶
NET_PASS7_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS7_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS7_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS7_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS7_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS7_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS7_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS8_ Parameters¶
NET_PASS8_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS8_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS8_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS8_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS8_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS8_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS8_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS9_ Parameters¶
NET_PASS9_ENABLE: Enable Passthrough¶
Enable Passthrough of any UART, Network, or CAN ports to any UART, Network, or CAN ports.
Values |
||||||
|---|---|---|---|---|---|---|
|
NET_PASS9_EP1: Endpoint 1¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS9_EP2: Endpoint 2¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS9_BAUD1: Endpoint 1 Baud Rate¶
The baud rate used for Endpoint 1. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS9_BAUD2: Endpoint 2 Baud Rate¶
The baud rate used for Endpoint 2. Only applies to serial ports.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS9_OPT1: Serial Port Options EP1¶
Control over UART options for Endpoint 1. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NET_PASS9_OPT2: Serial Port Options EP2¶
Control over UART options for Endpoint 2. Only applies to serial ports.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_ Parameters¶
NTF_LED_BRIGHT: LED Brightness¶
Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_TYPES: Buzzer Driver Types¶
Controls what types of Buzzer will be enabled
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_LED_OVERRIDE: Specifies colour source for the RGBLed¶
Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_DISPLAY_TYPE: Type of on-board I2C display¶
This sets up the type of on-board I2C display. Disabled by default.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_OREO_THEME: OreoLED Theme¶
Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_PIN: Buzzer pin¶
Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values |
||||
|---|---|---|---|---|
|
NTF_LED_TYPES: LED Driver Types¶
Controls what types of LEDs will be enabled
Bitmask |
||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_ON_LVL: Buzzer-on pin logic level¶
Specifies pin level that indicates buzzer should play
Values |
||||||
|---|---|---|---|---|---|---|
|
NTF_BUZZ_VOLUME: Buzzer volume¶
Control the volume of the buzzer
Range |
Units |
|---|---|
0 to 100 |
percent |
NTF_LED_LEN: Serial LED String Length¶
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¶
Default output rate in Hz for all PWM outputs.
Range |
Units |
|---|---|
25 to 400 |
hertz |
OUT_DSHOT_RATE: Servo DShot output rate¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
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OUT_DSHOT_ESC: Servo DShot ESC type¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
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OUT_GPIO_MASK: Servo GPIO mask¶
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 |
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OUT_RC_FS_MSK: Servo RC Failsafe Mask¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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OUT_32_ENABLE: Enable outputs 17 to 31¶
This allows for up to 32 outputs, enabling parameters for outputs above 16
Values |
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|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
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OUT10_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|
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OUT11_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|
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OUT12_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|
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OUT13_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
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OUT14_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
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OUT15_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT16_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT17_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT18_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT19_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT1_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT20_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT21_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT22_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT23_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT24_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT25_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT26_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT27_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT28_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
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OUT29_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT2_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT30_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT31_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT32_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT3_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT4_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT5_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT6_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT7_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT8_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT9_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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OUT_BLH_ Parameters¶
OUT_BLH_MASK: BLHeli Channel Bitmask¶
Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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OUT_BLH_AUTO: BLHeli pass-thru auto-enable for multicopter motors¶
If set to 1 this auto-enables BLHeli pass-thru support for all multicopter motors
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT_BLH_TEST: BLHeli internal interface test¶
Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT_BLH_OTYPE: BLHeli output type override¶
When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT_BLH_PORT: Control port¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT_BLH_POLES: BLHeli Motor Poles¶
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¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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OUT_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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OUT_BLH_RVMASK: BLHeli bitmask of reversed channels¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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OUT_FTW_ Parameters¶
OUT_FTW_MASK: Servo channel output bitmask¶
Servo channel mask specifying FETtec ESC output.
Bitmask |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT_FTW_RVMASK: Servo channel reverse rotation bitmask¶
Servo channel mask to reverse rotation of FETtec ESC outputs.
Bitmask |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
Set this parameter to one if logging unfiltered(raw) distances from sensor should be enabled
Values |
||||||
|---|---|---|---|---|---|---|
|
PRX_FILT: Proximity filter cutoff frequency¶
Cutoff frequency for low pass filter applied to each face in the proximity boundary
Range |
Units |
|---|---|
0 to 20 |
hertz |
PRX1 Parameters¶
PRX1_TYPE: Proximity type¶
What type of proximity sensor is connected
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
PRX1_ORIENT: Proximity sensor orientation¶
Proximity sensor orientation
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
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¶
What type of proximity sensor is connected
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
PRX2_ORIENT: Proximity sensor orientation¶
Proximity sensor orientation
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
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¶
What type of proximity sensor is connected
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
PRX3_ORIENT: Proximity sensor orientation¶
Proximity sensor orientation
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
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¶
What type of proximity sensor is connected
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
PRX4_ORIENT: Proximity sensor orientation¶
Proximity sensor orientation
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
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¶
What type of proximity sensor is connected
Values |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
PRX5_ORIENT: Proximity sensor orientation¶
Proximity sensor orientation
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
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¶
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¶
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 |
||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RC_MSGRATE: DroneCAN RC Message rate¶
Rate at which RC input is sent via DroneCAN
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 255 |
hertz |
RC1_PORT: RC input port¶
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.
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RELAY10_ Parameters¶
RELAY10_FUNCTION: Relay function¶
The function the relay channel is mapped to.
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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 |
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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 |
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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.
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RELAY11_ Parameters¶
RELAY11_FUNCTION: Relay function¶
The function the relay channel is mapped to.
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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 |
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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 |
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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 |
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RELAY12_ Parameters¶
RELAY12_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY13_ Parameters¶
RELAY13_FUNCTION: Relay function¶
The function the relay channel is mapped to.
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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 |
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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 |
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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.
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RELAY14_ Parameters¶
RELAY14_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY15_ Parameters¶
RELAY15_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY16_ Parameters¶
RELAY16_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY1_ Parameters¶
RELAY1_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY2_ Parameters¶
RELAY2_FUNCTION: Relay function¶
The function the relay channel is mapped to.
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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 |
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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 |
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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 |
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RELAY3_ Parameters¶
RELAY3_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY4_ Parameters¶
RELAY4_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY5_ Parameters¶
RELAY5_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY6_ Parameters¶
RELAY6_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY7_ Parameters¶
RELAY7_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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RELAY8_ Parameters¶
RELAY8_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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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 |
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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 |
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|---|---|---|---|---|---|---|
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RELAY9_ Parameters¶
RELAY9_FUNCTION: Relay function¶
The function the relay channel is mapped to.
Values |
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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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 |
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RNGFND1_ Parameters¶
RNGFND1_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
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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 |
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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 |
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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 |
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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 |
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|
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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND1_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND1_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND1_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND1_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND1_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND1_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND1_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFND2_ Parameters¶
RNGFND2_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND2_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND2_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND2_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND2_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND2_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND2_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND2_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND2_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND2_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFND3_ Parameters¶
RNGFND3_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND3_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND3_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND3_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND3_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND3_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND3_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND3_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND3_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND3_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFND4_ Parameters¶
RNGFND4_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND4_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND4_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND4_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND4_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND4_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND4_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND4_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND4_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND4_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFND5_ Parameters¶
RNGFND5_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND5_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND5_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND5_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND5_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND5_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND5_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND5_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND5_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND5_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFND6_ Parameters¶
RNGFND6_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND6_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND6_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND6_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND6_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND6_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND6_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND6_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND6_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND6_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFND7_ Parameters¶
RNGFND7_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND7_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND7_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND7_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND7_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND7_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND7_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND7_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND7_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND7_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFND8_ Parameters¶
RNGFND8_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND8_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND8_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND8_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND8_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND8_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND8_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND8_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND8_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND8_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFND9_ Parameters¶
RNGFND9_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND9_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND9_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFND9_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFND9_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFND9_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFND9_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFND9_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFND9_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFND9_RECV_ID: RangeFinder CAN receive ID¶
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¶
RangeFinder Minimum signal strength (SNR) to accept distance
Range |
|---|
0 to 65535 |
RNGFNDA_ Parameters¶
RNGFNDA_TYPE: Rangefinder type¶
Type of connected rangefinder
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFNDA_RMETRIC: Ratiometric¶
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFNDA_PWRRNG: Powersave range¶
This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled
Range |
Units |
|---|---|
0 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¶
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¶
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¶
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¶
Orientation of rangefinder
Values |
||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RNGFNDA_WSP_MAVG: Moving Average Range¶
Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results
Range |
|---|
0 to 255 |
RNGFNDA_WSP_MEDF: Moving Median Filter¶
Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active
Range |
|---|
0 to 255 |
RNGFNDA_WSP_FRQ: Frequency¶
Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.
Range |
|---|
0 to 10000 |
RNGFNDA_WSP_AVG: Multi-pulse averages¶
Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement
Range |
|---|
0 to 255 |
RNGFNDA_WSP_THR: Sensitivity threshold¶
Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments
Range |
|---|
-1 to 255 |
RNGFNDA_WSP_BAUD: Baud rate¶
Desired baud rate
Values |
||||||
|---|---|---|---|---|---|---|
|
RNGFNDA_RECV_ID: RangeFinder CAN receive ID¶
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¶
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 |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM1_ESC_MASK: Bitmask of ESC telemetry channels to average¶
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM1_ESC_INDEX: ESC Telemetry Index to write RPM to¶
ESC Telemetry Index to write RPM to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
RPM1_DC_ID: DroneCAN Sensor ID¶
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 |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM2_ESC_MASK: Bitmask of ESC telemetry channels to average¶
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM2_ESC_INDEX: ESC Telemetry Index to write RPM to¶
ESC Telemetry Index to write RPM to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
RPM2_DC_ID: DroneCAN Sensor ID¶
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 |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM3_ESC_MASK: Bitmask of ESC telemetry channels to average¶
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM3_ESC_INDEX: ESC Telemetry Index to write RPM to¶
ESC Telemetry Index to write RPM to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
RPM3_DC_ID: DroneCAN Sensor ID¶
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 |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM4_ESC_MASK: Bitmask of ESC telemetry channels to average¶
Mask of channels which support ESC rpm telemetry. RPM telemetry of the selected channels will be averaged
Bitmask |
||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
RPM4_ESC_INDEX: ESC Telemetry Index to write RPM to¶
ESC Telemetry Index to write RPM to. Use 0 to disable.
Increment |
Range |
|---|---|
1 |
0 to 10 |
RPM4_DC_ID: DroneCAN Sensor ID¶
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¶
Specifies which sources of UTC time will be accepted
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
RTC_TZ_MIN: Timezone offset from UTC¶
Adds offset in +- minutes from UTC to calculate local time
Range |
|---|
-720 to +840 |
SCR_ Parameters¶
SCR_ENABLE: Enable Scripting¶
Controls if scripting is enabled
Values |
||||||
|---|---|---|---|---|---|---|
|
SCR_VM_I_COUNT: Scripting Virtual Machine Instruction Count¶
The number virtual machine instructions that can be run before considering a script to have taken an excessive amount of time
Increment |
Range |
|---|---|
10000 |
1000 to 1000000 |
SCR_HEAP_SIZE: Scripting Heap Size¶
Amount of memory available for scripting
Increment |
Range |
|---|---|
1024 |
1024 to 1048576 |
SCR_DEBUG_OPTS: Scripting Debug Level¶
Debugging options
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
This will stop scripts being loaded from the given locations
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
SCR_LD_CHECKSUM: Loaded script checksum¶
Required XOR of CRC32 checksum of loaded scripts, vehicle will not arm with incorrect scripts loaded, -1 disables
SCR_RUN_CHECKSUM: Running script checksum¶
Required XOR of CRC32 checksum of running scripts, vehicle will not arm with incorrect scripts running, -1 disables
SCR_THD_PRIORITY: Scripting thread priority¶
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 |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SCR_SDEV_EN: Scripting serial device enable¶
Enable scripting serial devices
Values |
||||||
|---|---|---|---|---|---|---|
|
SCR_SDEV1_PROTO: Serial protocol of scripting serial device¶
Serial protocol of scripting serial device
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SCR_SDEV2_PROTO: Serial protocol of scripting serial device¶
Serial protocol of scripting serial device
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SCR_SDEV3_PROTO: Serial protocol of scripting serial device¶
Serial protocol of scripting serial device
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL Parameters¶
SERIAL0_BAUD: Serial0 baud rate¶
The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL0_PROTOCOL: Console protocol selection¶
Control what protocol to use on the console.
Values |
||||||
|---|---|---|---|---|---|---|
|
SERIAL1_PROTOCOL: Telem1 protocol selection¶
Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL1_BAUD: Telem1 Baud Rate¶
The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL2_PROTOCOL: Telemetry 2 protocol selection¶
Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL2_BAUD: Telemetry 2 Baud Rate¶
The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection¶
Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL3_BAUD: Serial 3 (GPS) Baud Rate¶
The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL4_PROTOCOL: Serial4 protocol selection¶
Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL4_BAUD: Serial 4 Baud Rate¶
The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL5_PROTOCOL: Serial5 protocol selection¶
Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL5_BAUD: Serial 5 Baud Rate¶
The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL6_PROTOCOL: Serial6 protocol selection¶
Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL6_BAUD: Serial 6 Baud Rate¶
The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL1_OPTIONS: Telem1 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL2_OPTIONS: Telem2 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL3_OPTIONS: Serial3 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL4_OPTIONS: Serial4 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL5_OPTIONS: Serial5 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL6_OPTIONS: Serial6 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASS1: Serial passthru first port¶
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASS2: Serial passthru second port¶
This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL_PASSTIMO: Serial passthru timeout¶
This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.
Range |
Units |
|---|---|
0 to 120 |
seconds |
SERIAL7_PROTOCOL: Serial7 protocol selection¶
Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL7_BAUD: Serial 7 Baud Rate¶
The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL7_OPTIONS: Serial7 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL8_PROTOCOL: Serial8 protocol selection¶
Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL8_BAUD: Serial 8 Baud Rate¶
The baud rate used for Serial8. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can't connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.
Values |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL8_OPTIONS: Serial8 options¶
Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire. The Swap option allows the RX and TX pins to be swapped on STM32F7 based boards.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL9_PROTOCOL: Serial9 protocol selection¶
Control what protocol Serial9 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SERIAL9_OPTIONS: Serial9 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 |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
Simulation Parameters¶
SIM_ACC1_BIAS_X: Accel 1 bias¶
bias of simulated accelerometer sensor (X-axis)
SIM_ACC1_BIAS_Y: Accel 1 bias¶
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC1_BIAS_Z: Accel 1 bias¶
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC1_RND: Accel 1 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_ACC1_SCAL_X: Accel 1 scaling factor¶
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC1_SCAL_Y: Accel 1 scaling factor¶
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC1_SCAL_Z: Accel 1 scaling factor¶
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACC2_BIAS_X: Accel 2 bias¶
bias of simulated accelerometer sensor (X-axis)
SIM_ACC2_BIAS_Y: Accel 2 bias¶
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC2_BIAS_Z: Accel 2 bias¶
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC2_RND: Accel 2 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_ACC2_SCAL_X: Accel 2 scaling factor¶
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC2_SCAL_Y: Accel 2 scaling factor¶
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC2_SCAL_Z: Accel 2 scaling factor¶
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACC3_BIAS_X: Accel 3 bias¶
bias of simulated accelerometer sensor (X-axis)
SIM_ACC3_BIAS_Y: Accel 3 bias¶
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC3_BIAS_Z: Accel 3 bias¶
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC3_RND: Accel 3 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_ACC3_SCAL_X: Accel 3 scaling factor¶
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC3_SCAL_Y: Accel 3 scaling factor¶
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC3_SCAL_Z: Accel 3 scaling factor¶
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACC4_BIAS_X: Accel 4 bias¶
bias of simulated accelerometer sensor (X-axis)
SIM_ACC4_BIAS_Y: Accel 4 bias¶
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC4_BIAS_Z: Accel 4 bias¶
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC4_RND: Accel 4 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_ACC4_SCAL_X: Accel 4 scaling factor¶
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC4_SCAL_Y: Accel 4 scaling factor¶
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC4_SCAL_Z: Accel 4 scaling factor¶
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACC5_BIAS_X: Accel 5 bias¶
bias of simulated accelerometer sensor (X-axis)
SIM_ACC5_BIAS_Y: Accel 5 bias¶
bias of simulated accelerometer sensor (Y-axis)
SIM_ACC5_BIAS_Z: Accel 5 bias¶
bias of simulated accelerometer sensor (Z-axis)
SIM_ACC5_RND: Accel 5 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_ACC5_SCAL_X: Accel 4 scaling factor¶
scaling factors applied to simulated accelerometer (X-axis)
SIM_ACC5_SCAL_Y: Accel 4 scaling factor¶
scaling factors applied to simulated accelerometer (Y-axis)
SIM_ACC5_SCAL_Z: Accel 4 scaling factor¶
scaling factors applied to simulated accelerometer (Z-axis)
SIM_ACCEL1_FAIL: ACCEL1 Failure¶
Simulated failure of ACCEL1
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ACCEL2_FAIL: ACCEL2 Failure¶
Simulated failure of ACCEL2
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ACCEL3_FAIL: ACCEL3 Failure¶
Simulated failure of ACCEL3
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ACCEL4_FAIL: ACCEL4 Failure¶
Simulated failure of ACCEL4
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ACCEL5_FAIL: ACCEL5 Failure¶
Simulated failure of ACCEL5
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ACC_FAIL_MSK: Accelerometer Failure Mask¶
Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ACC_FILE_RW: Accelerometer data to/from files¶
Read and write accelerometer data to/from files
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_ACC_TRIM_X: Accelerometer trim¶
Trim applied to simulated accelerometer (X-axis)
SIM_ACC_TRIM_Y: Accelerometer trim¶
Trim applied to simulated accelerometer (Y-axis)
SIM_ACC_TRIM_Z: Accelerometer trim¶
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 |
||||||
|---|---|---|---|---|---|---|
|
SIM_ADSB_TYPES: Simulated ADSB Type mask¶
specifies which simulated ADSB types are active
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
SIM_ARSPD2_FAIL: Airspeed sensor failure¶
Simulates Airspeed sensor 1 failure
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ARSPD2_FAILP: Airspeed sensor failure pressure¶
Simulated airspeed sensor failure pressure
Units |
|---|
pascal |
SIM_ARSPD2_OFS: Airspeed sensor offset¶
Simulated Airspeed sensor offset
Units |
|---|
meters per second |
SIM_ARSPD2_PITOT: Airspeed pitot tube failure pressure¶
Simulated airspeed sensor pitot tube failure pressure
Units |
|---|
pascal |
SIM_ARSPD2_RATIO: Airspeed ratios¶
Simulated airspeed sensor ratio
SIM_ARSPD2_RND: Airspeed sensor noise¶
Simulated Airspeed sensor noise
Units |
|---|
pascal |
SIM_ARSPD2_SIGN: Airspeed signflip¶
Simulated airspeed sensor with reversed pitot/static connections
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ARSPD_FAIL: Airspeed sensor failure¶
Simulates Airspeed sensor 1 failure
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ARSPD_FAILP: Airspeed sensor failure pressure¶
Simulated airspeed sensor failure pressure
Units |
|---|
pascal |
SIM_ARSPD_OFS: Airspeed sensor offset¶
Simulated Airspeed sensor offset
Units |
|---|
meters per second |
SIM_ARSPD_PITOT: Airspeed pitot tube failure pressure¶
Simulated airspeed sensor pitot tube failure pressure
Units |
|---|
pascal |
SIM_ARSPD_RATIO: Airspeed ratios¶
Simulated airspeed sensor ratio
SIM_ARSPD_RND: Airspeed sensor noise¶
Simulated Airspeed sensor noise
Units |
|---|
pascal |
SIM_ARSPD_SIGN: Airspeed signflip¶
Simulated airspeed sensor with reversed pitot/static connections
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_BAR2_DELAY: Barometer delay¶
Barometer data time delay
Units |
|---|
milliseconds |
SIM_BAR2_DISABLE: Barometer disable¶
Disable barometer in SITL
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_BAR2_DRIFT: Barometer altitude drift¶
Barometer altitude drifts at this rate
Units |
|---|
meters per second |
SIM_BAR2_FREEZE: Barometer freeze¶
Freeze barometer to last recorded altitude
SIM_BAR2_GLITCH: Barometer glitch¶
Barometer glitch height in SITL
Units |
|---|
meters |
SIM_BAR2_RND: Barometer noise¶
Barometer noise in height
Units |
|---|
meters |
SIM_BAR2_WCF_BAK: Wind coefficient backward¶
Barometer wind coefficient direction backward in SITL
SIM_BAR2_WCF_DN: Wind coefficient down¶
Barometer wind coefficient direction down in SITL
SIM_BAR2_WCF_FWD: Wind coefficient forward¶
Barometer wind coefficient direction forward in SITL
SIM_BAR2_WCF_LFT: Wind coefficient left¶
Barometer wind coefficient direction left in SITL
SIM_BAR2_WCF_RGT: Wind coefficient right¶
Barometer wind coefficient direction right in SITL
SIM_BAR2_WCF_UP: Wind coefficient up¶
Barometer wind coefficient direction up in SITL
SIM_BAR3_DELAY: Barometer delay¶
Barometer data time delay
Units |
|---|
milliseconds |
SIM_BAR3_DISABLE: Barometer disable¶
Disable barometer in SITL
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_BAR3_DRIFT: Barometer altitude drift¶
Barometer altitude drifts at this rate
Units |
|---|
meters per second |
SIM_BAR3_FREEZE: Barometer freeze¶
Freeze barometer to last recorded altitude
SIM_BAR3_GLITCH: Barometer glitch¶
Barometer glitch height in SITL
Units |
|---|
meters |
SIM_BAR3_RND: Barometer noise¶
Barometer noise in height
Units |
|---|
meters |
SIM_BAR3_WCF_BAK: Wind coefficient backward¶
Barometer wind coefficient direction backward in SITL
SIM_BAR3_WCF_DN: Wind coefficient down¶
Barometer wind coefficient direction down in SITL
SIM_BAR3_WCF_FWD: Wind coefficient forward¶
Barometer wind coefficient direction forward in SITL
SIM_BAR3_WCF_LFT: Wind coefficient left¶
Barometer wind coefficient direction left in SITL
SIM_BAR3_WCF_RGT: Wind coefficient right¶
Barometer wind coefficient direction right in SITL
SIM_BAR3_WCF_UP: Wind coefficient up¶
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¶
Barometer data time delay
Units |
|---|
milliseconds |
SIM_BARO_DISABLE: Barometer disable¶
Disable barometer in SITL
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_BARO_DRIFT: Barometer altitude drift¶
Barometer altitude drifts at this rate
Units |
|---|
meters per second |
SIM_BARO_FREEZE: Barometer freeze¶
Freeze barometer to last recorded altitude
SIM_BARO_GLITCH: Barometer glitch¶
Barometer glitch height in SITL
Units |
|---|
meters |
SIM_BARO_RND: Barometer noise¶
Barometer noise in height
Units |
|---|
meters |
SIM_BARO_WCF_BAK: Wind coefficient backward¶
Barometer wind coefficient direction backward in SITL
SIM_BARO_WCF_DN: Wind coefficient down¶
Barometer wind coefficient direction down in SITL
SIM_BARO_WCF_FWD: Wind coefficient forward¶
Barometer wind coefficient direction forward in SITL
SIM_BARO_WCF_LFT: Wind coefficient left¶
Barometer wind coefficient direction left in SITL
SIM_BARO_WCF_RGT: Wind coefficient right¶
Barometer wind coefficient direction right in SITL
SIM_BARO_WCF_UP: Wind coefficient up¶
Barometer wind coefficient direction up in SITL
SIM_BATT_CAP_AH: Simulated battery capacity¶
Simulated battery capacity
Units |
|---|
ampere hour |
SIM_BATT_VOLTAGE: Simulated battery voltage¶
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¶
Allows you to enable (1) or disable (0) the simulated buzzer
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_BZ_PIN: buzzer pin¶
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¶
The set of actuators controlled externally by CAN SITL AP_Periph
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_CAN_TYPE1: transport type for first CAN interface¶
transport type for first CAN interface
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
SIM_CAN_TYPE2: transport type for second CAN interface¶
transport type for second CAN interface
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_ENGINE_FAIL: Engine Fail Mask¶
mask of motors which SIM_ENGINE_MUL will be applied to
Bitmask |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
Simulated RPM when motors are armed
SIM_ESC_TELEM: Simulated ESC Telemetry¶
enable perfect simulated ESC telemetry
SIM_FLOAT_EXCEPT: Generate floating point exceptions¶
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 |
||||||
|---|---|---|---|---|---|---|
|
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¶
Allows you to enable (1) or disable (0) the FETtecOneWireESC simulator
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_FTOWESC_POW: Power off FETtec ESC mask¶
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
Units |
|---|
meters per second |
SIM_GND_BEHAV: Ground behavior¶
Ground behavior of aircraft (tailsitter, no movement, forward only)
SIM_GPS1_ACC: GPS Accuracy¶
GPS Accuracy
SIM_GPS1_ALT_OFS: GPS Altitude Offset¶
GPS Altitude Error
Units |
|---|
meters |
SIM_GPS1_BYTELOS: GPS Byteloss¶
Percent of bytes lost from GPS
Units |
|---|
percent |
SIM_GPS1_DRFTALT: GPS Altitude Drift¶
GPS altitude drift error
Units |
|---|
meters |
SIM_GPS1_ENABLE: GPS enable¶
Enable simulated GPS
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GPS1_GLTCH_X: GPS Glitch¶
Glitch offsets of simulated GPS sensor (X-axis)
SIM_GPS1_GLTCH_Y: GPS Glitch¶
Glitch offsets of simulated GPS sensor (Y-axis)
SIM_GPS1_GLTCH_Z: GPS Glitch¶
Glitch offsets of simulated GPS sensor (Z-axis)
SIM_GPS1_HDG: GPS Heading¶
Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_GPS1_HZ: GPS Hz¶
GPS Update rate
Units |
|---|
hertz |
SIM_GPS1_JAM: GPS jamming enable¶
Enable simulated GPS jamming
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GPS1_LAG_MS: GPS Lag¶
GPS lag
Units |
|---|
milliseconds |
SIM_GPS1_LCKTIME: GPS Lock Time¶
Delay in seconds before GPS acquires lock
Units |
|---|
seconds |
SIM_GPS1_NOISE: GPS Noise¶
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¶
Sets the type of simulation used for GPS
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_GPS1_VERR_X: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (X-axis)
SIM_GPS1_VERR_Y: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (Y-axis)
SIM_GPS1_VERR_Z: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (Z-axis)
SIM_GPS2_ACC: GPS Accuracy¶
GPS Accuracy
SIM_GPS2_ALT_OFS: GPS Altitude Offset¶
GPS Altitude Error
Units |
|---|
meters |
SIM_GPS2_BYTELOS: GPS Byteloss¶
Percent of bytes lost from GPS
Units |
|---|
percent |
SIM_GPS2_DRFTALT: GPS Altitude Drift¶
GPS altitude drift error
Units |
|---|
meters |
SIM_GPS2_ENABLE: GPS enable¶
Enable simulated GPS
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GPS2_GLTCH_X: GPS Glitch¶
Glitch offsets of simulated GPS sensor (X-axis)
SIM_GPS2_GLTCH_Y: GPS Glitch¶
Glitch offsets of simulated GPS sensor (Y-axis)
SIM_GPS2_GLTCH_Z: GPS Glitch¶
Glitch offsets of simulated GPS sensor (Z-axis)
SIM_GPS2_HDG: GPS Heading¶
Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_GPS2_HZ: GPS Hz¶
GPS Update rate
Units |
|---|
hertz |
SIM_GPS2_JAM: GPS jamming enable¶
Enable simulated GPS jamming
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GPS2_LAG_MS: GPS Lag¶
GPS lag
Units |
|---|
milliseconds |
SIM_GPS2_LCKTIME: GPS Lock Time¶
Delay in seconds before GPS acquires lock
Units |
|---|
seconds |
SIM_GPS2_NOISE: GPS Noise¶
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¶
Sets the type of simulation used for GPS
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_GPS2_VERR_X: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (X-axis)
SIM_GPS2_VERR_Y: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (Y-axis)
SIM_GPS2_VERR_Z: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (Z-axis)
SIM_GPS3_ACC: GPS Accuracy¶
GPS Accuracy
SIM_GPS3_ALT_OFS: GPS Altitude Offset¶
GPS Altitude Error
Units |
|---|
meters |
SIM_GPS3_BYTELOS: GPS Byteloss¶
Percent of bytes lost from GPS
Units |
|---|
percent |
SIM_GPS3_DRFTALT: GPS Altitude Drift¶
GPS altitude drift error
Units |
|---|
meters |
SIM_GPS3_ENABLE: GPS enable¶
Enable simulated GPS
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GPS3_GLTCH_X: GPS Glitch¶
Glitch offsets of simulated GPS sensor (X-axis)
SIM_GPS3_GLTCH_Y: GPS Glitch¶
Glitch offsets of simulated GPS sensor (Y-axis)
SIM_GPS3_GLTCH_Z: GPS Glitch¶
Glitch offsets of simulated GPS sensor (Z-axis)
SIM_GPS3_HDG: GPS Heading¶
Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_GPS3_HZ: GPS Hz¶
GPS Update rate
Units |
|---|
hertz |
SIM_GPS3_JAM: GPS jamming enable¶
Enable simulated GPS jamming
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GPS3_LAG_MS: GPS Lag¶
GPS lag
Units |
|---|
milliseconds |
SIM_GPS3_LCKTIME: GPS Lock Time¶
Delay in seconds before GPS acquires lock
Units |
|---|
seconds |
SIM_GPS3_NOISE: GPS Noise¶
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¶
Sets the type of simulation used for GPS
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_GPS3_VERR_X: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (X-axis)
SIM_GPS3_VERR_Y: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (Y-axis)
SIM_GPS3_VERR_Z: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (Z-axis)
SIM_GPS4_ACC: GPS Accuracy¶
GPS Accuracy
SIM_GPS4_ALT_OFS: GPS Altitude Offset¶
GPS Altitude Error
Units |
|---|
meters |
SIM_GPS4_BYTELOS: GPS Byteloss¶
Percent of bytes lost from GPS
Units |
|---|
percent |
SIM_GPS4_DRFTALT: GPS Altitude Drift¶
GPS altitude drift error
Units |
|---|
meters |
SIM_GPS4_ENABLE: GPS enable¶
Enable simulated GPS
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GPS4_GLTCH_X: GPS Glitch¶
Glitch offsets of simulated GPS sensor (X-axis)
SIM_GPS4_GLTCH_Y: GPS Glitch¶
Glitch offsets of simulated GPS sensor (Y-axis)
SIM_GPS4_GLTCH_Z: GPS Glitch¶
Glitch offsets of simulated GPS sensor (Z-axis)
SIM_GPS4_HDG: GPS Heading¶
Enable GPS output of NMEA heading HDT sentence or UBLOX_RELPOSNED
Values |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_GPS4_HZ: GPS Hz¶
GPS Update rate
Units |
|---|
hertz |
SIM_GPS4_JAM: GPS jamming enable¶
Enable simulated GPS jamming
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GPS4_LAG_MS: GPS Lag¶
GPS lag
Units |
|---|
milliseconds |
SIM_GPS4_LCKTIME: GPS Lock Time¶
Delay in seconds before GPS acquires lock
Units |
|---|
seconds |
SIM_GPS4_NOISE: GPS Noise¶
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¶
Sets the type of simulation used for GPS
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_GPS4_VERR_X: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (X-axis)
SIM_GPS4_VERR_Y: GPS Velocity Error¶
GPS Velocity Error Offsets in NED (Y-axis)
SIM_GPS4_VERR_Z: GPS Velocity Error¶
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¶
Allows you to enable (1) or disable (0) the gripper servo simulation
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GRPE_PIN: Gripper emp pin¶
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¶
Allows you to enable (1) or disable (0) the gripper servo simulation
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GRPS_GRAB: Gripper Grab PWM¶
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¶
The pin number that the gripper servo is connected to. (start at 1)
Range |
|---|
0 to 15 |
SIM_GRPS_RELEASE: Gripper Release PWM¶
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¶
Reverse the closing direction.
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GYR1_BIAS_X: First Gyro bias on X axis¶
First Gyro bias on X axis
Units |
|---|
radians per second |
SIM_GYR1_BIAS_Y: First Gyro bias on Y axis¶
First Gyro bias on Y axis
Units |
|---|
radians per second |
SIM_GYR1_BIAS_Z: First Gyro bias on Z axis¶
First Gyro bias on Z axis
Units |
|---|
radians per second |
SIM_GYR1_RND: Gyro 1 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_GYR1_SCALE_X: Gyro 1 scaling factor¶
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR1_SCALE_Y: Gyro 1 scaling factor¶
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR1_SCALE_Z: Gyro 1 scaling factor¶
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR2_BIAS_X: Second Gyro bias on X axis¶
Second Gyro bias on X axis
Units |
|---|
radians per second |
SIM_GYR2_BIAS_Y: Second Gyro bias on Y axis¶
Second Gyro bias on Y axis
Units |
|---|
radians per second |
SIM_GYR2_BIAS_Z: Second Gyro bias on Z axis¶
Second Gyro bias on Z axis
Units |
|---|
radians per second |
SIM_GYR2_RND: Gyro 2 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_GYR2_SCALE_X: Gyro 2 scaling factor¶
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR2_SCALE_Y: Gyro 2 scaling factor¶
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR2_SCALE_Z: Gyro 2 scaling factor¶
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR3_BIAS_X: Third Gyro bias on X axis¶
Third Gyro bias on X axis
Units |
|---|
radians per second |
SIM_GYR3_BIAS_Y: Third Gyro bias on Y axis¶
Third Gyro bias on Y axis
Units |
|---|
radians per second |
SIM_GYR3_BIAS_Z: Third Gyro bias on Z axis¶
Third Gyro bias on Z axis
Units |
|---|
radians per second |
SIM_GYR3_RND: Gyro 3 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_GYR3_SCALE_X: Gyro 3 scaling factor¶
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR3_SCALE_Y: Gyro 3 scaling factor¶
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR3_SCALE_Z: Gyro 3 scaling factor¶
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR4_BIAS_X: Fourth Gyro bias on X axis¶
Fourth Gyro bias on X axis
Units |
|---|
radians per second |
SIM_GYR4_BIAS_Y: Fourth Gyro bias on Y axis¶
Fourth Gyro bias on Y axis
Units |
|---|
radians per second |
SIM_GYR4_BIAS_Z: Fourth Gyro bias on Z axis¶
Fourth Gyro bias on Z axis
Units |
|---|
radians per second |
SIM_GYR4_RND: Gyro 4 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_GYR4_SCALE_X: Gyro 4 scaling factor¶
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR4_SCALE_Y: Gyro 4 scaling factor¶
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR4_SCALE_Z: Gyro 4 scaling factor¶
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR5_BIAS_X: Fifth Gyro bias on X axis¶
Fifth Gyro bias on X axis
Units |
|---|
radians per second |
SIM_GYR5_BIAS_Y: Fifth Gyro bias on Y axis¶
Fifth Gyro bias on Y axis
Units |
|---|
radians per second |
SIM_GYR5_BIAS_Z: Fifth Gyro bias on Z axis¶
Fifth Gyro bias on Z axis
Units |
|---|
radians per second |
SIM_GYR5_RND: Gyro 5 motor noise factor¶
scaling factor for simulated vibration from motors
SIM_GYR5_SCALE_X: Gyro 5 scaling factor¶
scaling factors applied to simulated gyroscope (X-axis)
SIM_GYR5_SCALE_Y: Gyro 5 scaling factor¶
scaling factors applied to simulated gyroscope (Y-axis)
SIM_GYR5_SCALE_Z: Gyro 5 scaling factor¶
scaling factors applied to simulated gyroscope (Z-axis)
SIM_GYR_FAIL_MSK: Gyro Failure Mask¶
Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_GYR_FILE_RW: Gyro data to/from files¶
Read and write gyro data to/from files
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_IE24_ENABLE: IntelligentEnergy 2.4kWh FuelCell sim enable/disable¶
Allows you to enable (1) or disable (0) the FuelCell simulator
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
SIM_IE24_ERROR: Explicitly set error code¶
Explicitly specify an error code to send to the generator
SIM_IE24_STATE: Explicitly set state¶
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¶
Simulated orientation of the IMUs
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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¶
Device ID of simulated compass 1
SIM_MAG1_FAIL: MAG1 Failure¶
Simulated failure of MAG1
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_MAG1_ORIENT: MAG1 Orientation¶
MAG1 external compass orientation
SIM_MAG1_SCALING: MAG1 Scaling factor¶
Scale the compass 1 to simulate sensor scale factor errors
SIM_MAG2_DEVID: MAG2 Device ID¶
Device ID of simulated compass 2
SIM_MAG2_FAIL: MAG2 Failure¶
Simulated failure of MAG2
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_MAG2_ORIENT: MAG2 Orientation¶
MAG2 external compass orientation
SIM_MAG2_SCALING: MAG2 Scaling factor¶
Scale the compass 2 to simulate sensor scale factor errors
SIM_MAG3_DEVID: MAG3 Device ID¶
Device ID of simulated compass 3
SIM_MAG3_FAIL: MAG3 Failure¶
Simulated failure of MAG3
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_MAG3_ORIENT: MAG3 Orientation¶
MAG3 external compass orientation
SIM_MAG3_SCALING: MAG3 Scaling factor¶
Scale the compass 3 to simulate sensor scale factor errors
SIM_MAG4_DEVID: MAG2 Device ID¶
Device ID of simulated compass 4
SIM_MAG5_DEVID: MAG5 Device ID¶
Device ID of simulated compass 5
SIM_MAG6_DEVID: MAG6 Device ID¶
Device ID of simulated compass 6
SIM_MAG7_DEVID: MAG7 Device ID¶
Device ID of simulated compass 7
SIM_MAG8_DEVID: MAG8 Device ID¶
Device ID of simulated compass 8
SIM_MAG_ALY_HGT: Magnetic anomaly height¶
Height above ground where anomally strength has decayed to 1/8 of the ground level value
Units |
|---|
meters |
SIM_MAG_DELAY: Mag measurement delay¶
Magnetometer measurement delay
Units |
|---|
milliseconds |
SIM_MAG_RND: Mag motor noise factor¶
Scaling factor for simulated vibration from motors
SIM_MAG_SAVE_IDS: Save MAG devids on startup¶
This forces saving of compass devids on startup so that simulated compasses start as calibrated
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_ODOM_ENABLE: Odometry enable¶
SITL odometry enabl
Values |
||||||
|---|---|---|---|---|---|---|
|
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)¶
Specifies vehicle's startup altitude (AMSL)
SIM_OPOS_HDG: Original Position (Heading)¶
Specifies vehicle's startup heading (0-360)
SIM_OPOS_LAT: Original Position (Latitude)¶
Specifies vehicle's startup latitude
SIM_OPOS_LNG: Original Position (Longitude)¶
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¶
Allows you to enable (1) or disable (0) the Parachute simulation
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_PARA_PIN: Parachute pin¶
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¶
Precland device maximum range altitude
Range |
Units |
|---|---|
0 to 100 |
meters |
SIM_PLD_DIST_LMT: Precland device lateral range¶
Precland device maximum lateral range
Range |
Units |
|---|---|
5 to 100 |
meters |
SIM_PLD_ENABLE: Preland device Sim enable/disable¶
Allows you to enable (1) or disable (0) the Preland simulation
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_PLD_HEIGHT: Precland device center's height SITL origin¶
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¶
Precland device center's latitude
Increment |
Range |
Units |
|---|---|---|
0.000001 |
-90 to 90 |
degrees |
SIM_PLD_LON: Precland device center's longitude¶
Precland device center's longitude
Increment |
Range |
Units |
|---|---|---|
0.000001 |
-180 to 180 |
degrees |
SIM_PLD_OPTIONS: SIM_Precland extra options¶
SIM_Precland extra options
Bitmask |
||||
|---|---|---|---|---|
|
SIM_PLD_ORIENT: Precland device orientation¶
Precland device orientation vector
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
SIM_PLD_RATE: Precland device update rate¶
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¶
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 |
||||||
|---|---|---|---|---|---|---|
|
SIM_PLD_TYPE: Precland device radiance type¶
Precland device radiance type: it can be a cylinder, a cone, or a sphere.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
SIM_PLD_YAW: Precland device systems rotation from north¶
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¶
Allows you to emulate rc failures in sim
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
SIM_RFL_OPTS: FlightAxis options¶
Bitmask of FlightAxis options
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_RICH_CTRL: Pin RichenPower is connectred to¶
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¶
Allows you to enable (1) or disable (0) the RichenPower simulator
Values |
||||||
|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
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¶
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¶
Slung Payload Sim enable/disable
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_SLUP_LINELEN: Slung Payload line length¶
Slung Payload line length in meters
Range |
Units |
|---|---|
0 to 100 |
meters |
SIM_SLUP_SYSID: Slung Payload MAVLink system ID¶
Slung Payload MAVLink system id to distinguish it from others on the same network
Range |
|---|
0 to 255 |
SIM_SLUP_WEIGHT: Slung Payload weight¶
Slung Payload weight in kg
Range |
Units |
|---|---|
0 to 15 |
kilograms |
SIM_SONAR_GLITCH: Sonar glitch probablility¶
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¶
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¶
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¶
Allows you to enable (1) or disable (0) the Sprayer simulation
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_SPR_PUMP: Sprayer pump pin¶
The pin number that the Sprayer pump is connected to. (start at 1)
Range |
|---|
0 to 15 |
SIM_SPR_SPIN: Sprayer spinner servo pin¶
The pin number that the Sprayer spinner servo is connected to. (start at 1)
Range |
|---|
0 to 15 |
SIM_TA_ENABLE: ToneAlarm enable/disable¶
Allows you to enable (1) or disable (0) the simulated tonealarm
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_TEMP_BFACTOR: Baro temperature factor¶
A pressure change with temperature that closely matches what has been observed with a ICM-20789
SIM_TEMP_BRD_OFF: Baro temperature offset¶
Barometer board temperature offset from atmospheric temperature
Units |
|---|
degrees Celsius |
SIM_TEMP_START: Start temperature¶
Baro start temperature
Units |
|---|
degrees Celsius |
SIM_TEMP_TCONST: Warmup time constant¶
Barometer warmup temperature time constant
Units |
|---|
degrees Celsius |
SIM_TERRAIN: Terrain Enable¶
Enable using terrain for height
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_TETH_DENSITY: Tether Wire Density¶
Linear mass density of the tether wire
Range |
|---|
0 to 1 |
SIM_TETH_ENABLE: Tether Simulation Enable/Disable¶
Enable or disable the tether simulation
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_TETH_LINELEN: Tether Maximum Line Length¶
Maximum length of the tether line in meters
Range |
Units |
|---|---|
0 to 100 |
meters |
SIM_TETH_SPGCNST: Tether Spring Constant¶
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¶
Enable or disable a stuck tether simulation
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_TETH_SYSID: Tether Simulation MAVLink System ID¶
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¶
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¶
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¶
SITL vicon failure
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_VICON_GLIT_X: SITL vicon position glitch North¶
SITL vicon position glitch North
Units |
|---|
meters |
SIM_VICON_GLIT_Y: SITL vicon position glitch East¶
SITL vicon position glitch East
Units |
|---|
meters |
SIM_VICON_GLIT_Z: SITL vicon position glitch Down¶
SITL vicon position glitch Down
Units |
|---|
meters |
SIM_VICON_POS_X: SITL vicon position on vehicle in Forward direction¶
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¶
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¶
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¶
SITL vicon position standard deviation for gaussian noise
Units |
|---|
meters |
SIM_VICON_RATE: SITL vicon rate¶
SITL vicon rate
Units |
|---|
hertz |
SIM_VICON_TMASK: SITL vicon type mask¶
SITL vicon messages sent
Bitmask |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
SIM_VICON_VGLI_X: SITL vicon velocity glitch North¶
SITL vicon velocity glitch North
Units |
|---|
meters per second |
SIM_VICON_VGLI_Y: SITL vicon velocity glitch East¶
SITL vicon velocity glitch East
Units |
|---|
meters per second |
SIM_VICON_VGLI_Z: SITL vicon velocity glitch Down¶
SITL vicon velocity glitch Down
Units |
|---|
meters per second |
SIM_VICON_V_SD: SITL vicon velocity standard deviation for gaussian noise¶
SITL vicon velocity standard deviation for gaussian noise
Units |
|---|
meters per second |
SIM_VICON_YAW: SITL vicon yaw angle in earth frame¶
SITL vicon yaw angle in earth frame
Range |
Units |
|---|---|
0 to 360 |
degrees |
SIM_VICON_YAWERR: SITL vicon yaw error¶
SITL vicon yaw added to reported yaw sent to vehicle
Range |
Units |
|---|---|
-180 to 180 |
degrees |
SIM_VOLZ_ENA: Volz simulator enable/disable¶
Allows you to enable (1) or disable (0) the Volz simulator
Values |
||||||
|---|---|---|---|---|---|---|
|
SIM_VOLZ_FMASK: Volz fail mask¶
fail servo at current position. Channel 1 is bit 0.
SIM_VOLZ_MASK: Volz override mask¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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¶
Allows you to set wind direction (true deg) in sim
Units |
|---|
degrees |
SIM_WIND_DIR_Z: Simulated wind vertical direction¶
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¶
Allows you to emulate wind in sim
Units |
|---|
meters per second |
SIM_WIND_T: Wind Profile Type¶
Selects how wind varies from surface to WIND_T_ALT
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
SIM_WIND_TC: Wind variation time constant¶
this controls the time over which wind changes take effect
Units |
|---|
seconds |
SIM_WIND_TURB: Simulated Wind variation¶
Allows you to emulate random wind variations in sim
Units |
|---|
meters per second |
SIM_WIND_T_ALT: Full Wind Altitude¶
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¶
For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value
SIM_WOW_PIN: Weight on Wheels Pin¶
SITL set this simulated pin to true if vehicle is on ground
TEMP Parameters¶
TEMP_LOG: Logging¶
Enables temperature sensor logging
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
TEMP1_ Parameters¶
TEMP1_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP1_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP1_ADDR: Temperature sensor address¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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
TEMP2_ Parameters¶
TEMP2_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP2_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP2_ADDR: Temperature sensor address¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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
TEMP3_ Parameters¶
TEMP3_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP3_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP3_ADDR: Temperature sensor address¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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
TEMP4_ Parameters¶
TEMP4_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TEMP4_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP4_ADDR: Temperature sensor address¶
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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
TEMP5_ Parameters¶
TEMP5_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
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TEMP5_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP5_ADDR: Temperature sensor address¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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
TEMP6_ Parameters¶
TEMP6_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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TEMP6_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP6_ADDR: Temperature sensor address¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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
TEMP7_ Parameters¶
TEMP7_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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TEMP7_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP7_ADDR: Temperature sensor address¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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
TEMP8_ Parameters¶
TEMP8_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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TEMP8_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP8_ADDR: Temperature sensor address¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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
TEMP9_ Parameters¶
TEMP9_TYPE: Temperature Sensor Type¶
Enables temperature sensors
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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TEMP9_BUS: Temperature sensor bus¶
Temperature sensor bus number, typically used to select from multiple I2C buses
Range |
|---|
0 to 3 |
TEMP9_ADDR: Temperature sensor address¶
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|
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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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|---|---|
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