Complete Parameter List¶

This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.

This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.

AP_Periph Parameters¶

FORMAT_VERSION: Eeprom format version number¶

Note: This parameter is for advanced users

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

CAN_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly or 0 for dynamic node allocation

Range	RebootRequired
0 - 250	True

CAN_BAUDRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range	RebootRequired
10000 - 1000000	True

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

Note: This parameter is for advanced users

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

RebootRequired

Values

True

Value	Meaning
0	Disabled
1	UAVCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
9	PacketDigital

CAN2_BAUDRATE: Bitrate of CAN2 interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range	RebootRequired
10000 - 1000000	True

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

Note: This parameter is for advanced users

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

RebootRequired

Values

True

Value	Meaning
0	Disabled
1	UAVCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
9	PacketDigital

CAN3_BAUDRATE: Bitrate of CAN3 interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range	RebootRequired
10000 - 1000000	True

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

Note: This parameter is for advanced users

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

RebootRequired

Values

True

Value	Meaning
0	Disabled
1	UAVCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
9	PacketDigital

FLASH_BOOTLOADER: Trigger bootloader update¶

Note: This parameter is for advanced users

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

Range
0 - 1

DEBUG: Debug¶

Note: This parameter is for advanced users

Debug

Values

Value	Meaning
0	Disabled
1	Show free stack space

BRD_SERIAL_NUM: Serial number of device¶

Note: This parameter is for advanced users

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

Range
0 - 2147483648

BUZZER_VOLUME: Buzzer volume¶

Note: This parameter is for advanced users

Control the volume of the buzzer

Increment	Range	Units
1	0 - 100	percent

GPS_PORT: GPS Serial Port¶

Note: This parameter is for advanced users

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

Increment	Range	RebootRequired
1	0 - 10	True

BARO_ENABLE: Barometer Enable¶

Barometer Enable

Values

Value	Meaning
0	Disabled
1	Enabled

LED_BRIGHTNESS: LED Brightness¶

Select the RGB LED brightness level.

Increment	Range	Units
1	0 - 100	percent

RNGFND_BAUDRATE: Rangefinder serial baudrate¶

Rangefinder serial baudrate.

Increment

RebootRequired

Values

1

True

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

RNGFND_PORT: Rangefinder Serial Port¶

Note: This parameter is for advanced users

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

Increment	Range	RebootRequired
1	0 - 10	True

ADSB_BAUDRATE: ADSB serial baudrate¶

ADSB serial baudrate.

Increment

RebootRequired

Values

1

True

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

ADSB_PORT: ADSB Serial Port¶

Note: This parameter is for advanced users

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

Increment	Range	RebootRequired
1	0 - 10	True

HARDPOINT_ID: Hardpoint ID¶

Note: This parameter is for advanced users

Hardpoint ID

HARDPOINT_RATE: Hardpoint PWM rate¶

Note: This parameter is for advanced users

Hardpoint PWM rate

Increment	Range	Units
1	10 - 100	hertz

ESC_NUMBER: ESC number¶

Note: This parameter is for advanced users

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

Increment
1

ESC_PWM_TYPE: Output PWM type¶

Note: This parameter is for advanced users

This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output

RebootRequired

Values

True

Value	Meaning
0	Normal
1	OneShot
2	OneShot125
3	Brushed
4	DShot150
5	DShot300
6	DShot600
7	DShot1200

MSP_PORT: MSP Serial Port¶

Note: This parameter is for advanced users

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

Increment	Range	RebootRequired
1	0 - 10	True

LOG_BITMASK: Log bitmask¶

4 byte bitmap of log types to enable

Bitmask

Bit	Meaning
2	GPS

SYSID_THISMAV: MAVLink system ID of this vehicle¶

Note: This parameter is for advanced users

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

Range
1 - 255

ARSP Parameters¶

ARSP_TYPE: Airspeed type¶

Type of airspeed sensor

Values

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

ARSP_DEVID: Airspeed ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

ARSP_USE: Airspeed use¶

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

Values

Value	Meaning
0	DoNotUse
1	Use
2	UseWhenZeroThrottle

ARSP_OFFSET: Airspeed offset¶

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSP_RATIO: Airspeed ratio¶

Note: This parameter is for advanced users

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

Increment
0.1

ARSP_PIN: Airspeed pin¶

Note: This parameter is for advanced users

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

ARSP_AUTOCAL: Automatic airspeed ratio calibration¶

Note: This parameter is for advanced users

Enables automatic adjustment of ARSPD_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.

ARSP_TUBE_ORDER: Control pitot tube order¶

Note: This parameter is for advanced users

Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed.

ARSP_SKIP_CAL: Skip airspeed calibration on startup¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disable
1	Enable

ARSP_PSI_RANGE: The PSI range of the device¶

Note: This parameter is for advanced users

This parameter allows you to 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

ARSP_BUS: Airspeed I2C bus¶

Note: This parameter is for advanced users

Bus number of the I2C bus where the airspeed sensor is connected

Values

Value	Meaning
0	Bus0(internal)
1	Bus1(external)
2	Bus2(auxillary)

ARSP_PRIMARY: Primary airspeed sensor¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	FirstSensor
1	2ndSensor

ARSP_OPTIONS: Airspeed options bitmask¶

Note: This parameter is for advanced users

Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction

Bitmask

Bit	Meaning
0	SpeedMismatchDisable
1	AllowSpeedMismatchRecovery
2	DisableVoltageCorrection

ARSP_WIND_MAX: Maximum airspeed and ground speed difference¶

Note: This parameter is for advanced users

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

Units
meters per second

ARSP_WIND_WARN: Airspeed and ground speed difference that gives a warning¶

Note: This parameter is for advanced users

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

Units
meters per second

ARSP2_TYPE: Second Airspeed type¶

Type of 2nd airspeed sensor

Values

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

ARSP2_USE: Enable use of 2nd airspeed sensor¶

use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won’t be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller

Values

Value	Meaning
0	Don’t Use
1	use
2	UseWhenZeroThrottle

ARSP2_OFFSET: Airspeed offset for 2nd airspeed sensor¶

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSP2_RATIO: Airspeed ratio for 2nd airspeed sensor¶

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment
0.1

ARSP2_PIN: Airspeed pin for 2nd airspeed sensor¶

Note: This parameter is for advanced users

Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15.

ARSP2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor¶

Note: This parameter is for advanced users

If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.

ARSP2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor¶

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic 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 it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.

ARSP2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disable
1	Enable

ARSP2_PSI_RANGE: The PSI range of the device for 2nd sensor¶

Note: This parameter is for advanced users

This parameter allows you to 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

ARSP2_BUS: Airspeed I2C bus for 2nd sensor¶

Note: This parameter is for advanced users

The bus number of the I2C bus to look for the sensor on

Values

Value	Meaning
0	Bus0(internal)
1	Bus1(external)
2	Bus2(auxillary)

ARSP2_DEVID: Airspeed2 ID¶

Note: This parameter is for advanced users

Airspeed2 sensor ID, taking into account its type, bus and instance

ReadOnly
True

BARO Parameters¶

BARO1_GND_PRESS: Ground Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO_GND_TEMP: ground temperature¶

Note: This parameter is for advanced users

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

Increment	Units	Volatile
1	degrees Celsius	True

BARO_ALT_OFFSET: altitude offset¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	meters

BARO_PRIMARY: Primary barometer¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	FirstBaro
1	2ndBaro
2	3rdBaro

BARO_EXT_BUS: External baro bus¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
-1	Disabled
0	Bus0
1	Bus1

BARO_SPEC_GRAV: Specific Gravity (For water depth measurement)¶

This sets the specific gravity of the fluid when flying an underwater ROV.

Values
1.0:Freshwater,1.024:Saltwater

BARO2_GND_PRESS: Ground Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO3_GND_PRESS: Absolute Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO_FLTR_RNG: Range in which sample is accepted¶

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

Increment	Range	Units
1	0 - 100	percent

BARO_PROBE_EXT: External barometers to probe¶

Note: This parameter is for advanced users

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.

Bitmask

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

BARO1_DEVID: Baro ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO2_DEVID: Baro ID2¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO3_DEVID: Baro ID3¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO1_WCF_ Parameters¶

BARO1_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

BARO2_WCF_ Parameters¶

BARO2_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

BARO3_WCF_ Parameters¶

BARO3_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment	Range
0.05	-1.0 - 1.0

BATT2_ Parameters¶

BATT2_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT2_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT2_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT2_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT2_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT2_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT2_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT2_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT2_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT2_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT2_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT2_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT2_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT2_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT3_ Parameters¶

BATT3_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT3_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT3_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT3_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT3_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT3_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT3_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT3_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT3_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT3_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT3_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT3_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT3_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT3_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT3_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT3_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT4_ Parameters¶

BATT4_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT4_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT4_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT4_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT4_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT4_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT4_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT4_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT4_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT4_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT4_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT4_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT4_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT4_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT4_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT4_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT5_ Parameters¶

BATT5_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT5_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT5_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT5_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT5_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT5_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT5_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT5_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT5_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT5_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT5_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT5_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT5_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT5_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT5_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT5_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT6_ Parameters¶

BATT6_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT6_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT6_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT6_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT6_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT6_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT6_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT6_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT6_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT6_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT6_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT6_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT6_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT6_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT6_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT6_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT7_ Parameters¶

BATT7_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT7_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT7_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT7_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT7_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT7_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT7_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT7_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT7_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT7_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT7_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT7_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT7_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT7_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT7_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT7_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT8_ Parameters¶

BATT8_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT8_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT8_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT8_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT8_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT8_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT8_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT8_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT8_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT8_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT8_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT8_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT8_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT8_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT8_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT8_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT9_ Parameters¶

BATT9_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT9_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT9_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT9_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT9_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT9_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT9_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT9_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT9_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT9_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT9_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT9_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT9_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT9_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT9_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT9_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT_ Parameters¶

BATT_MONITOR: Battery monitoring¶

Controls enabling monitoring of the battery’s voltage and current

RebootRequired

Values

True

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye

BATT_VOLT_PIN: Battery Voltage sensing pin¶

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

RebootRequired

Values

True

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

BATT_CURR_PIN: Battery Current sensing pin¶

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

RebootRequired

Values

True

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

BATT_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt¶

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	0 - 120	seconds

BATT_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage¶

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

Increment	Units
0.1	volt

BATT_LOW_MAH: Low battery capacity¶

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

Increment	Units
50	milliampere hour

BATT_CRT_VOLT: Critical battery voltage¶

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

Increment	Units
0.1	volt

BATT_CRT_MAH: Battery critical capacity¶

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

Increment	Units
50	milliampere hour

BATT_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

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

Increment	Units
0.1	volt

BATT_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

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

Increment	Units
50	milliampere hour

BATT_BUS: Battery monitor I2C bus number¶

Battery monitor I2C bus number

Range
0 - 3

BATT_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

CAM_RC_ Parameters¶

CAM_RC_TYPE: RunCam device type¶

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

Values

Value	Meaning
0	Disabled
1	RunCam Split Micro/RunCam with UART
2	RunCam Split
3	RunCam Split4 4k
4	RunCam Hybrid

CAM_RC_FEATURES: RunCam features available¶

Note: This parameter is for advanced users

The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.

Bitmask

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

CAM_RC_BT_DELAY: RunCam boot delay before allowing updates¶

Note: This parameter is for advanced users

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

CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses¶

Note: This parameter is for advanced users

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

CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses¶

Note: This parameter is for advanced users

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

CAM_RC_CONTROL: RunCam control option¶

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu

Bitmask

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

COMPASS_ Parameters¶

COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

COMPASS_DEC: Compass declination¶

An angle to compensate between the true north and magnetic north

Increment	Range	Units
0.01	-3.142 - 3.142	radians

COMPASS_LEARN: Learn compass offsets automatically¶

Note: This parameter is for advanced users

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

Values

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

COMPASS_USE: Use compass for yaw¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_AUTODEC: Auto Declination¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_MOTCT: Motor interference compensation type¶

Note: This parameter is for advanced users

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

Calibration

Values

1

Value	Meaning
0	Disabled
1	Use Throttle
2	Use Current

COMPASS_MOT_X: Motor interference compensation for body frame X axis¶

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶

Note: This parameter is for advanced users

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

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

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_ORIENT: Compass orientation¶

Note: This parameter is for advanced users

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315
42	Roll45
43	Roll315
100	Custom

COMPASS_EXTERNAL: Compass is attached via an external cable¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

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

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_DEV_ID: Compass device id¶

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID2: Compass2 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID3: Compass3 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_USE2: Compass2 used for yaw¶

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_ORIENT2: Compass2 orientation¶

Note: This parameter is for advanced users

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315
42	Roll45
43	Roll315
100	Custom

COMPASS_EXTERN2: Compass2 is attached via an external cable¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_USE3: Compass3 used for yaw¶

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_ORIENT3: Compass3 orientation¶

Note: This parameter is for advanced users

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315
42	Roll45
43	Roll315
100	Custom

COMPASS_EXTERN3: Compass3 is attached via an external cable¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness¶

Note: This parameter is for advanced users

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

Increment

Range

Values

0.1

4 - 32

Value	Meaning
4	Very Strict
8	Strict
16	Default
32	Relaxed

COMPASS_OFFS_MAX: Compass maximum offset¶

Note: This parameter is for advanced users

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

Increment	Range
1	500 - 3000

COMPASS_TYPEMASK: Compass disable driver type mask¶

Note: This parameter is for advanced users

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

Bitmask

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

COMPASS_FLTR_RNG: Range in which sample is accepted¶

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

Increment	Range	Units
1	0 - 100	percent

COMPASS_AUTO_ROT: Automatically check orientation¶

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

Values

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

COMPASS_PRIO1_ID: Compass device id with 1st order priority¶

Note: This parameter is for advanced users

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

RebootRequired
True

COMPASS_PRIO2_ID: Compass device id with 2nd order priority¶

Note: This parameter is for advanced users

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

RebootRequired
True

COMPASS_PRIO3_ID: Compass device id with 3rd order priority¶

Note: This parameter is for advanced users

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

RebootRequired
True

COMPASS_ENABLE: Enable Compass¶

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

RebootRequired

Values

True

Value	Meaning
0	Disabled
1	Enabled

COMPASS_SCALE: Compass1 scale factor¶

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

Range
0 - 1.3

COMPASS_SCALE2: Compass2 scale factor¶

Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range
0 - 1.3

COMPASS_SCALE3: Compass3 scale factor¶

Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range
0 - 1.3

COMPASS_OPTIONS: Compass options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask

Bit	Meaning
0	CalRequireGPS

COMPASS_DEV_ID4: Compass4 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID5: Compass5 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID6: Compass6 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID7: Compass7 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID8: Compass8 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_CUS_ROLL: Custom orientation roll offset¶

Note: This parameter is for advanced users

Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment	Range	RebootRequired	Units
1	-180 - 180	True	degrees

COMPASS_CUS_PIT: Custom orientation pitch offset¶

Note: This parameter is for advanced users

Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment	Range	RebootRequired	Units
1	-180 - 180	True	degrees

COMPASS_CUS_YAW: Custom orientation yaw offset¶

Note: This parameter is for advanced users

Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment	Range	RebootRequired	Units
1	-180 - 180	True	degrees

COMPASS_PMOT Parameters¶

COMPASS_PMOT_EN: per-motor compass correction enable¶

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_PMOT_EXP: per-motor exponential correction¶

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 - 2

COMPASS_PMOT1_X: Compass per-motor1 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X¶

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y¶

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z¶

Note: This parameter is for advanced users

Compensation for Z axis of motor4

EAHRS Parameters¶

EAHRS_TYPE: AHRS type¶

Type of AHRS device

Values

Value	Meaning
0	None
1	VectorNav

EAHRS_RATE: AHRS data rate¶

Requested rate for AHRS device

Units
hertz

FFT_ Parameters¶

FFT_ENABLE: Enable¶

Note: This parameter is for advanced users

Enable Gyro FFT analyser

RebootRequired

Values

True

Value	Meaning
0	Disabled
1	Enabled

FFT_MINHZ: Minimum Frequency¶

Note: This parameter is for advanced users

Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.

Range	Units
20 - 400	hertz

FFT_MAXHZ: Maximum Frequency¶

Note: This parameter is for advanced users

Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.

Range	Units
20 - 495	hertz

FFT_SAMPLE_MODE: Sample Mode¶

Note: This parameter is for advanced users

Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.

Range	RebootRequired
0 - 4	True

FFT_WINDOW_SIZE: FFT window size¶

Note: This parameter is for advanced users

Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.

Range	RebootRequired
32 - 1024	True

FFT_WINDOW_OLAP: FFT window overlap¶

Note: This parameter is for advanced users

Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.

Range	RebootRequired
0 - 0.9	True

FFT_FREQ_HOVER: FFT learned hover frequency¶

Note: This parameter is for advanced users

The learned hover noise frequency

Range
0 - 250

FFT_THR_REF: FFT learned thrust reference¶

Note: This parameter is for advanced users

FFT learned thrust reference for the hover frequency and FFT minimum frequency.

Range
0.01 - 0.9

FFT_SNR_REF: FFT SNR reference threshold¶

Note: This parameter is for advanced users

FFT SNR reference threshold in dB at which a signal is determined to be present.

Range
0.0 - 100.0

FFT_ATT_REF: FFT attenuation for bandwidth calculation¶

Note: This parameter is for advanced users

FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.

Range
0 - 100

FFT_BW_HOVER: FFT learned bandwidth at hover¶

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

Range
0 - 200

FFT_HMNC_FIT: FFT harmonic fit frequency threshold¶

Note: This parameter is for advanced users

FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.

Range	RebootRequired
0 - 100	True

FFT_HMNC_PEAK: FFT harmonic peak target¶

Note: This parameter is for advanced users

The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).

Values

Value	Meaning
0	Auto
1	Center Frequency
2	Lower-Shoulder Frequency
3	Upper-Shoulder Frequency
4	Roll-Axis
5	Pitch-Axis

FRSKY_ Parameters¶

FRSKY_UPLINK_ID: Uplink sensor id¶

Note: This parameter is for advanced users

Change the uplink sensor id (SPort only)

Values

Value	Meaning
-1	Disable
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14
15	15
16	16
17	17
18	18
19	19
20	20
21	21
22	22
23	23
24	24
25	25
26	26

FRSKY_DNLINK1_ID: First downlink sensor id¶

Note: This parameter is for advanced users

Change the first extra downlink sensor id (SPort only)

Values

Value	Meaning
-1	Disable
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14
15	15
16	16
17	17
18	18
19	19
20	20
21	21
22	22
23	23
24	24
25	25
26	26

FRSKY_DNLINK2_ID: Second downlink sensor id¶

Note: This parameter is for advanced users

Change the second extra downlink sensor id (SPort only)

Values

Value	Meaning
-1	Disable
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14
15	15
16	16
17	17
18	18
19	19
20	20
21	21
22	22
23	23
24	24
25	25
26	26

FRSKY_DNLINK_ID: Default downlink sensor id¶

Note: This parameter is for advanced users

Change the default downlink sensor id (SPort only)

Values

Value	Meaning
-1	Disable
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14
15	15
16	16
17	17
18	18
19	19
20	20
21	21
22	22
23	23
24	24
25	25
26	26
27	27

FRSKY_OPTIONS: FRSky Telemetry Options¶

A bitmask to set some FRSky Telemetry specific options

Bitmask

Bit	Meaning
0	EnableAirspeedAndGroundspeed

GEN_ Parameters¶

GEN_TYPE: Generator type¶

Generator type

RebootRequired

Values

True

Value	Meaning
0	Disabled
1	IE 650w 800w Fuel Cell
2	IE 2.4kW Fuel Cell
3	Richenpower

GPS Parameters¶

GPS_TYPE: 1st GPS type¶

Note: This parameter is for advanced users

GPS type of 1st GPS

RebootRequired

Values

True

Value	Meaning
0	None
1	AUTO
2	uBlox
3	MTK
4	MTK19
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	UAVCAN
10	SBF
11	GSOF
13	ERB
14	MAV
15	NOVA
16	HemisphereNMEA
17	uBlox-MovingBaseline-Base
18	uBlox-MovingBaseline-Rover
19	MSP
20	AllyStar
21	ExternalAHRS

GPS_TYPE2: 2nd GPS type¶

Note: This parameter is for advanced users

GPS type of 2nd GPS

RebootRequired

Values

True

Value	Meaning
0	None
1	AUTO
2	uBlox
3	MTK
4	MTK19
5	NMEA
6	SiRF
7	HIL
8	SwiftNav
9	UAVCAN
10	SBF
11	GSOF
13	ERB
14	MAV
15	NOVA
16	HemisphereNMEA
17	uBlox-MovingBaseline-Base
18	uBlox-MovingBaseline-Rover
19	MSP
20	AllyStar
21	ExternalAHRS

GPS_NAVFILTER: Navigation filter setting¶

Note: This parameter is for advanced users

Navigation filter engine setting

Values

Value	Meaning
0	Portable
2	Stationary
3	Pedestrian
4	Automotive
5	Sea
6	Airborne1G
7	Airborne2G
8	Airborne4G

GPS_AUTO_SWITCH: Automatic Switchover Setting¶

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to ‘UseBest’ behaviour if 3D fix is lost on primary

Values

Value	Meaning
0	Use primary
1	UseBest
2	Blend
4	Use primary if 3D fix or better

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS¶

Note: This parameter is for advanced users

Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.

RebootRequired

Values

True

Value	Meaning
0	Any
50	FloatRTK
100	IntegerRTK

GPS_SBAS_MODE: SBAS Mode¶

Note: This parameter is for advanced users

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

Values

Value	Meaning
0	Disabled
1	Enabled
2	NoChange

GPS_MIN_ELEV: Minimum elevation¶

Note: This parameter is for advanced users

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

Range	Units
-100 - 90	degrees

GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶

Note: This parameter is for advanced users

The GGS can send raw serial packets to inject data to multiple GPSes.

Values

Value	Meaning
0	send to first GPS
1	send to 2nd GPS
127	send to all

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶

Note: This parameter is for advanced users

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

Values

Value	Meaning
0	None (0x0000)
-1	All (0xFFFF)
-256	External only (0xFF00)

GPS_RAW_DATA: Raw data logging¶

Note: This parameter is for advanced users

Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment’s SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming

RebootRequired

Values

True

Value	Meaning
0	Ignore
1	Always log
2	Stop logging when disarmed (SBF only)
5	Only log every five samples (uBlox only)

GPS_GNSS_MODE: GNSS system configuration¶

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

Bitmask

Bit	Meaning
0	GPS
1	SBAS
2	Galileo
3	Beidou
4	IMES
5	QZSS
6	GLONASS

GPS_SAVE_CFG: Save GPS configuration¶

Note: This parameter is for advanced users

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

Values

Value	Meaning
0	Do not save config
1	Save config
2	Save only when needed

GPS_GNSS_MODE2: GNSS system configuration¶

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)

Bitmask

Bit	Meaning
0	GPS
1	SBAS
2	Galileo
3	Beidou
4	IMES
5	QZSS
6	GLONASS

GPS_AUTO_CONFIG: Automatic GPS configuration¶

Note: This parameter is for advanced users

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

Values

Value	Meaning
0	Disables automatic configuration
1	Enable automatic configuration

GPS_RATE_MS: GPS update rate in milliseconds¶

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

Range

Units

Values

50 - 200

milliseconds

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

GPS_RATE_MS2: GPS 2 update rate in milliseconds¶

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

Range

Units

Values

50 - 200

milliseconds

Value	Meaning
100	10Hz
125	8Hz
200	5Hz

GPS_POS1_X: Antenna X position offset¶

Note: This parameter is for advanced users

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS1_Y: Antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS1_Z: Antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_X: Antenna X position offset¶

Note: This parameter is for advanced users

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_Y: Antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_POS2_Z: Antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_DELAY_MS: GPS delay in milliseconds¶

Note: This parameter is for advanced users

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

Range	RebootRequired	Units
0 - 250	True	milliseconds

GPS_DELAY_MS2: GPS 2 delay in milliseconds¶

Note: This parameter is for advanced users

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

Range	RebootRequired	Units
0 - 250	True	milliseconds

GPS_BLEND_MASK: Multi GPS Blending Mask¶

Note: This parameter is for advanced users

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)

Bitmask

Bit	Meaning
0	Horiz Pos
1	Vert Pos
2	Speed

GPS_BLEND_TC: Blending time constant¶

Note: This parameter is for advanced users

Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.

Range	Units
5.0 - 30.0	seconds

GPS_DRV_OPTIONS: driver options¶

Note: This parameter is for advanced users

Additional backend specific options

Bitmask

Bit	Meaning
0	Use UART2 for moving baseline on ublox
1	Use base station for GPS yaw on SBF

GPS_COM_PORT: GPS physical COM port¶

Note: This parameter is for advanced users

The physical COM port on the connected device, currently only applies to SBF GPS

Increment	Range	RebootRequired
1	0 - 10	True

GPS_COM_PORT2: GPS physical COM port¶

Note: This parameter is for advanced users

The physical COM port on the connected device, currently only applies to SBF GPS

Increment	Range	RebootRequired
1	0 - 10	True

GPS_PRIMARY: Primary GPS¶

Note: This parameter is for advanced users

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

Increment

Values

1

Value	Meaning
0	FirstGPS
1	SecondGPS

GPS_CAN_NODEID1: GPS Node ID 1¶

Note: This parameter is for advanced users

GPS Node id for discovered first.

ReadOnly
True

GPS_CAN_NODEID2: GPS Node ID 2¶

Note: This parameter is for advanced users

GPS Node id for discovered second.

ReadOnly
True

GPS1_CAN_OVRIDE: First UAVCAN GPS NODE ID¶

Note: This parameter is for advanced users

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

GPS2_CAN_OVRIDE: Second UAVCAN GPS NODE ID¶

Note: This parameter is for advanced users

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

GPS_MB1_ Parameters¶

GPS_MB1_TYPE: Moving base type¶

Note: This parameter is for advanced users

Controls the type of moving base used if using moving base.

RebootRequired

Values

True

Value	Meaning
0	Relative to alternate GPS instance
1	RelativeToCustomBase

GPS_MB1_OFS_X: Base antenna X position offset¶

Note: This parameter is for advanced users

X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB1_OFS_Y: Base antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB1_OFS_Z: Base antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB2_ Parameters¶

GPS_MB2_TYPE: Moving base type¶

Note: This parameter is for advanced users

Controls the type of moving base used if using moving base.

RebootRequired

Values

True

Value	Meaning
0	Relative to alternate GPS instance
1	RelativeToCustomBase

GPS_MB2_OFS_X: Base antenna X position offset¶

Note: This parameter is for advanced users

X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB2_OFS_Y: Base antenna Y position offset¶

Note: This parameter is for advanced users

Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

GPS_MB2_OFS_Z: Base antenna Z position offset¶

Note: This parameter is for advanced users

Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment	Range	Units
0.01	-5 - 5	meters

LOG Parameters¶

LOG_BACKEND_TYPE: AP_Logger Backend Storage type¶

Bitmap of what Logger backend types to enable. Block-based logging is available on SITL and boards with dataflash chips. Multiple backends can be selected.

Bitmask

Bit	Meaning
0	File
1	MAVLink
2	Block

LOG_FILE_BUFSIZE: Maximum AP_Logger File and Block Backend buffer size (in kilobytes)¶

The File and Block backends use a buffer to store data before writing to the block device. Raising this value may reduce “gaps” in your SD card logging. This buffer size may be reduced depending on available memory. PixHawk requires at least 4 kilobytes. Maximum value available here is 64 kilobytes.

LOG_DISARMED: Enable logging while disarmed¶

If LOG_DISARMED is set to 1 then logging will be enabled while disarmed. This can make for very large logfiles but can help a lot when tracking down startup issues

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_REPLAY: Enable logging of information needed for Replay¶

If LOG_REPLAY is set to 1 then the EKF2 state estimator will log detailed information needed for diagnosing problems with the Kalman filter. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm¶

When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.

Values

Value	Meaning
0	Disabled
1	Enabled

LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size¶

Note: This parameter is for advanced users

Maximum amount of memory to allocate to AP_Logger-over-mavlink

Units
kilobytes

LOG_FILE_TIMEOUT: Timeout before giving up on file writes¶

This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.

Units
seconds

LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space¶

Set this such that the free space is larger than your largest typical flight log

Range	Units
10 - 1000	megabyte

MSP Parameters¶

MSP_OSD_NCELLS: Cell count override¶

Used for average cell voltage calculation

Values

Value	Meaning
0	Auto
1	1
2	2
3	3
4	4
5	5
6	6
7	7
8	8
9	9
10	10
11	11
12	12
13	13
14	14

MSP_OPTIONS: MSP OSD Options¶

A bitmask to set some MSP specific options

Bitmask

Bit	Meaning
0	EnableTelemetryMode
1	DJIWorkarounds

NTF_ Parameters¶

NTF_LED_BRIGHT: LED Brightness¶

Note: This parameter is for advanced users

Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.

Values

Value	Meaning
0	Off
1	Low
2	Medium
3	High

NTF_BUZZ_TYPES: Buzzer Driver Types¶

Note: This parameter is for advanced users

Controls what types of Buzzer will be enabled

Bitmask

Bit	Meaning
0	Built-in buzzer
1	DShot
2	UAVCAN

NTF_LED_OVERRIDE: Specifies colour source for the RGBLed¶

Note: This parameter is for advanced users

Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially “Green” is disarmed (safe-to-approach), “Red” is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.

Values

Value	Meaning
0	Standard
1	MAVLink/Scripting/AP_Periph
2	OutbackChallenge
3	TrafficLight

NTF_DISPLAY_TYPE: Type of on-board I2C display¶

Note: This parameter is for advanced users

This sets up the type of on-board I2C display. Disabled by default.

Values

Value	Meaning
0	Disable
1	ssd1306
2	sh1106
10	SITL

NTF_OREO_THEME: OreoLED Theme¶

Note: This parameter is for advanced users

Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme

Values

Value	Meaning
0	Disabled
1	Aircraft
2	Rover

NTF_BUZZ_PIN: Buzzer pin¶

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET!

Values

Value	Meaning
0	Disabled

NTF_LED_TYPES: LED Driver Types¶

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Bitmask

Bit	Meaning
0	Built-in LED
1	Internal ToshibaLED
2	External ToshibaLED
3	External PCA9685
4	Oreo LED
5	UAVCAN
6	NCP5623 External
7	NCP5623 Internal
8	NeoPixel
9	ProfiLED
10	Scripting
11	DShot
12	ProfiLED_SPI

NTF_BUZZ_ON_LVL: Buzzer-on pin logic level¶

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Values

Value	Meaning
0	LowIsOn
1	HighIsOn

NTF_BUZZ_VOLUME: Buzzer volume¶

Control the volume of the buzzer

Range	Units
0 - 100	percent

NTF_LED_LEN: Serial LED String Length¶

Note: This parameter is for advanced users

The number of Serial LED’s to use for notifications (NeoPixel’s and ProfiLED)

Range	RebootRequired
1 - 32	True

OUT Parameters¶

OUT_RATE: Servo default output rate¶

Note: This parameter is for advanced users

This sets the default output rate in Hz for all outputs.

Range	Units
25 - 400	hertz

OUT_DSHOT_RATE: Servo DShot output rate¶

Note: This parameter is for advanced users

This sets the DShot output rate for all outputs as a multiple of the loop rate. 0 sets the output rate to be fixed at 1Khz for low loop rates. This value should never be set below 500Hz.

Values

Value	Meaning
0	1Khz
1	loop-rate
2	double loop-rate
3	triple loop-rate
4	quadruple loop rate

OUT_DSHOT_ESC: Servo DShot ESC type¶

Note: This parameter is for advanced users

This sets the DShot ESC type for all outputs. The ESC type affects the range of DShot commands available. None means that no dshot commands will be executed.

Values

Value	Meaning
0	None
1	BLHeli32/BLHeli_S/Kiss

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT10_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT10_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT11_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT11_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT12_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT12_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT13_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT13_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT14_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT14_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT15_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT15_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT16_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT16_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT1_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT1_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT2_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT2_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT3_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT3_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT4_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT4_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT5_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT5_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT6_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT6_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT7_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT7_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT8_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT8_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

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	500 - 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 - 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 - 2200	PWM in microseconds

OUT9_REVERSED: Servo reverse¶

Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.

Values

Value	Meaning
0	Normal
1	Reversed

OUT9_FUNCTION: Servo output function¶

Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function

Values

Value	Meaning
-1	GPIO
0	Disabled
1	RCPassThru
2	Flap
3	FlapAuto
4	Aileron
6	MountPan
7	MountTilt
8	MountRoll
9	MountOpen
10	CameraTrigger
12	Mount2Pan
13	Mount2Tilt
14	Mount2Roll
15	Mount2Open
16	DifferentialSpoilerLeft1
17	DifferentialSpoilerRight1
19	Elevator
21	Rudder
22	SprayerPump
23	SprayerSpinner
24	FlaperonLeft
25	FlaperonRight
26	GroundSteering
27	Parachute
28	Gripper
29	LandingGear
30	EngineRunEnable
31	HeliRSC
32	HeliTailRSC
33	Motor1
34	Motor2
35	Motor3
36	Motor4
37	Motor5
38	Motor6
39	Motor7
40	Motor8
41	TiltMotorsFront
45	TiltMotorsRear
46	TiltMotorRearLeft
47	TiltMotorRearRight
51	RCIN1
52	RCIN2
53	RCIN3
54	RCIN4
55	RCIN5
56	RCIN6
57	RCIN7
58	RCIN8
59	RCIN9
60	RCIN10
61	RCIN11
62	RCIN12
63	RCIN13
64	RCIN14
65	RCIN15
66	RCIN16
67	Ignition
69	Starter
70	Throttle
71	TrackerYaw
72	TrackerPitch
73	ThrottleLeft
74	ThrottleRight
75	TiltMotorFrontLeft
76	TiltMotorFrontRight
77	ElevonLeft
78	ElevonRight
79	VTailLeft
80	VTailRight
81	BoostThrottle
82	Motor9
83	Motor10
84	Motor11
85	Motor12
86	DifferentialSpoilerLeft2
87	DifferentialSpoilerRight2
88	Winch
89	Main Sail
90	CameraISO
91	CameraAperture
92	CameraFocus
93	CameraShutterSpeed
94	Script1
95	Script2
96	Script3
97	Script4
98	Script5
99	Script6
100	Script7
101	Script8
102	Script9
103	Script10
104	Script11
105	Script12
106	Script13
107	Script14
108	Script15
109	Script16
120	NeoPixel1
121	NeoPixel2
122	NeoPixel3
123	NeoPixel4
124	RateRoll
125	RatePitch
126	RateThrust
127	RateYaw
128	WingSailElevator
129	ProfiLED1
130	ProfiLED2
131	ProfiLED3
132	ProfiLEDClock
133	Winch Clutch
134	SERVOn_MIN
135	SERVOn_TRIM
136	SERVOn_MAX
137	SailMastRotation

OUT_BLH_ Parameters¶

OUT_BLH_MASK: BLHeli Channel Bitmask¶

Note: This parameter is for advanced users

Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16

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

Value	Meaning
0	Disabled
1	Enabled

OUT_BLH_TEST: BLHeli internal interface test¶

Note: This parameter is for advanced users

Setting SERVO_BLH_TEST to a motor number enables an internal test of the BLHeli ESC protocol to the corresponding ESC. The debug output is displayed on the USB console.

Values

Value	Meaning
0	Disabled
1	TestMotor1
2	TestMotor2
3	TestMotor3
4	TestMotor4
5	TestMotor5
6	TestMotor6
7	TestMotor7
8	TestMotor8

OUT_BLH_TMOUT: BLHeli protocol timeout¶

This sets the inactivity timeout for the BLHeli protocol in seconds. If no packets are received in this time normal MAVLink operations are resumed. A value of 0 means no timeout

Range	Units
0 - 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 - 500	hertz

OUT_BLH_DEBUG: BLHeli debug level¶

When set to 1 this enabled verbose debugging output over MAVLink when the blheli protocol is active. This can be used to diagnose failures.

Values

Value	Meaning
0	Disabled
1	Enabled

OUT_BLH_OTYPE: BLHeli output type override¶

Note: This parameter is for advanced users

When set to a non-zero value this overrides the output type for the output channels given by SERVO_BLH_MASK. This can be used to enable DShot on outputs that are not part of the multicopter motors group.

Values

Value	Meaning
0	None
1	OneShot
2	OneShot125
3	Brushed
4	DShot150
5	DShot300
6	DShot600
7	DShot1200

OUT_BLH_PORT: Control port¶

Note: This parameter is for advanced users

This sets the serial port to use for blheli pass-thru

Values

Value	Meaning
0	Console
1	Serial1
2	Serial2
3	Serial3
4	Serial4
5	Serial5

OUT_BLH_POLES: BLHeli Motor Poles¶

Note: This parameter is for advanced users

This allows calculation of true RPM from ESC’s eRPM. The default is 14.

Range
1 - 127

OUT_BLH_3DMASK: BLHeli bitmask of 3D channels¶

Note: This parameter is for advanced users

Mask of channels which are dynamically reversible. This is used to configure ESCs in ‘3D’ mode, allowing for the motor to spin in either direction

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16

OUT_BLH_BDMASK: BLHeli bitmask of bi-directional dshot channels¶

Note: This parameter is for advanced users

Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16

OUT_BLH_RVMASK: BLHeli bitmask of reversed channels¶

Note: This parameter is for advanced users

Mask of channels which are reversed. This is used to configure ESCs in reversed mode

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16

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 - 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 - 4095

OUT_SBUS_ Parameters¶

OUT_SBUS_RATE: SBUS default output rate¶

Note: This parameter is for advanced users

This sets the SBUS output frame rate in Hz.

Range	Units
25 - 250	hertz

OUT_VOLZ_ Parameters¶

OUT_VOLZ_MASK: Channel Bitmask¶

Enable of volz servo protocol to specific channels

Bitmask

Bit	Meaning
0	Channel1
1	Channel2
2	Channel3
3	Channel4
4	Channel5
5	Channel6
6	Channel7
7	Channel8
8	Channel9
9	Channel10
10	Channel11
11	Channel12
12	Channel13
13	Channel14
14	Channel15
15	Channel16

RNGFND1_ Parameters¶

RNGFND1_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND1_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND1_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND1_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND1_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND1_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND1_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND1_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND1_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND1_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND1_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND1_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND1_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND1_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND1_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND1_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND1_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND1_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND1_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND1_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND1_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND1_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND2_ Parameters¶

RNGFND2_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND2_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND2_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND2_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND2_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND2_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND2_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND2_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND2_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND2_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND2_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND2_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND2_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND2_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND2_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND2_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND2_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND2_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND2_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND2_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND2_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND2_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND3_ Parameters¶

RNGFND3_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND3_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND3_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND3_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND3_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND3_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND3_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND3_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND3_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND3_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND3_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND3_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND3_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND3_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND3_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND3_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND3_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND3_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND3_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND3_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND3_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND3_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND4_ Parameters¶

RNGFND4_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND4_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND4_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND4_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND4_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND4_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND4_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND4_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND4_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND4_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND4_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND4_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND4_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND4_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND4_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND4_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND4_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND4_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND4_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND4_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND4_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND4_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND5_ Parameters¶

RNGFND5_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND5_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND5_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND5_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND5_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND5_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND5_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND5_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND5_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND5_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND5_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND5_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND5_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND5_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND5_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND5_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND5_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND5_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND5_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND5_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND5_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND5_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND6_ Parameters¶

RNGFND6_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND6_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND6_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND6_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND6_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND6_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND6_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND6_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND6_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND6_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND6_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND6_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND6_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND6_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND6_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND6_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND6_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND6_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND6_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND6_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND6_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND6_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND7_ Parameters¶

RNGFND7_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND7_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND7_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND7_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND7_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND7_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND7_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND7_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND7_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND7_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND7_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND7_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND7_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND7_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND7_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND7_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND7_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND7_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND7_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND7_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND7_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND7_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND8_ Parameters¶

RNGFND8_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND8_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND8_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND8_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND8_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND8_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND8_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND8_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND8_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND8_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND8_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND8_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND8_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND8_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND8_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND8_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND8_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND8_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND8_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND8_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND8_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND8_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFND9_ Parameters¶

RNGFND9_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFND9_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFND9_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFND9_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFND9_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFND9_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND9_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFND9_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFND9_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFND9_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFND9_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFND9_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFND9_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND9_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND9_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFND9_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFND9_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFND9_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFND9_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFND9_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFND9_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFND9_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

RNGFNDA_ Parameters¶

RNGFNDA_TYPE: Rangefinder type¶

What type of rangefinder device that is connected

Values

Value	Meaning
0	None
1	Analog
2	MaxbotixI2C
3	LidarLite-I2C
5	PWM
6	BBB-PRU
7	LightWareI2C
8	LightWareSerial
9	Bebop
10	MAVLink
11	uLanding
12	LeddarOne
13	MaxbotixSerial
14	TeraRangerI2C
15	LidarLiteV3-I2C
16	VL53L0X or VL53L1X
17	NMEA
18	WASP-LRF
19	BenewakeTF02
20	Benewake-Serial
21	LidarLightV3HP
22	PWM
23	BlueRoboticsPing
24	UAVCAN
25	BenewakeTFminiPlus-I2C
26	LanbaoPSK-CM8JL65-CC5
27	BenewakeTF03
28	VL53L1X-ShortRange
29	LeddarVu8-Serial
30	HC-SR04
31	GYUS42v2
32	MSP
33	USD1_CAN
100	SITL

RNGFNDA_PIN: Rangefinder pin¶

Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input

Values

Value	Meaning
-1	Not Used
11	PX4-airspeed port
15	Pixhawk-airspeed port
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

RNGFNDA_SCALING: Rangefinder scaling¶

Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts.

Increment	Units
0.001	meters per volt

RNGFNDA_OFFSET: rangefinder offset¶

Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars

Increment	Units
0.001	volt

RNGFNDA_FUNCTION: Rangefinder function¶

Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.

Values

Value	Meaning
0	Linear
1	Inverted
2	Hyperbolic

RNGFNDA_MIN_CM: Rangefinder minimum distance¶

Minimum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFNDA_MAX_CM: Rangefinder maximum distance¶

Maximum distance in centimeters that rangefinder can reliably read

Increment	Units
1	centimeters

RNGFNDA_STOP_PIN: Rangefinder stop pin¶

Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range.

Values

Value	Meaning
-1	Not Used
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6
111	PX4 FMU Relay1
112	PX4 FMU Relay2
113	PX4IO Relay1
114	PX4IO Relay2
115	PX4IO ACC1
116	PX4IO ACC2

RNGFNDA_RMETRIC: Ratiometric¶

This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.

Values

Value	Meaning
0	No
1	Yes

RNGFNDA_PWRRNG: Powersave range¶

This parameter sets the estimated terrain distance in meters above which the sensor will be put into a power saving mode (if available). A value of zero means power saving is not enabled

Range	Units
0 - 32767	meters

RNGFNDA_GNDCLEAR: Distance (in cm) from the range finder to the ground¶

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

Increment	Range	Units
1	5 - 127	centimeters

RNGFNDA_ADDR: Bus address of sensor¶

This sets the bus address of the sensor, where applicable. Used for the I2C and UAVCAN sensors to allow for multiple sensors on different addresses.

Increment	Range
1	0 - 127

RNGFNDA_POS_X: X position offset¶

Note: This parameter is for advanced users

X position of the rangefinder in body frame. Positive X is forward of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFNDA_POS_Y: Y position offset¶

Note: This parameter is for advanced users

Y position of the rangefinder in body frame. Positive Y is to the right of the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFNDA_POS_Z: Z position offset¶

Note: This parameter is for advanced users

Z position of the rangefinder in body frame. Positive Z is down from the origin. Use the zero range datum point if supplied.

Increment	Range	Units
0.01	-5 - 5	meters

RNGFNDA_ORIENT: Rangefinder orientation¶

Note: This parameter is for advanced users

Orientation of rangefinder

Values

Value	Meaning
0	Forward
1	Forward-Right
2	Right
3	Back-Right
4	Back
5	Back-Left
6	Left
7	Forward-Left
24	Up
25	Down

RNGFNDA_WSP_MAVG: Moving Average Range¶

Note: This parameter is for advanced users

Sets the number of historic range results to use for calculating the current range result. When MAVG is greater than 1, the current range result will be the current measured value averaged with the N-1 previous results

Range
0 - 255

RNGFNDA_WSP_MEDF: Moving Median Filter¶

Note: This parameter is for advanced users

Sets the window size for the real-time median filter. When MEDF is greater than 0 the median filter is active

Range
0 - 255

RNGFNDA_WSP_FRQ: Frequency¶

Note: This parameter is for advanced users

Sets the repetition frequency of the ranging operation in Hertz. Upon entering the desired frequency the system will calculate the nearest frequency that it can handle according to the resolution of internal timers.

Range
0 - 10000

RNGFNDA_WSP_AVG: Multi-pulse averages¶

Note: This parameter is for advanced users

Sets the number of pulses to be used in multi-pulse averaging mode. In this mode, a sequence of rapid fire ranges are taken and then averaged to improve the accuracy of the measurement

Range
0 - 255

RNGFNDA_WSP_THR: Sensitivity threshold¶

Note: This parameter is for advanced users

Sets the system sensitivity. Larger values of THR represent higher sensitivity. The system may limit the maximum value of THR to prevent excessive false alarm rates based on settings made at the factory. Set to -1 for automatic threshold adjustments

Range
-1 - 255

RNGFNDA_WSP_BAUD: Baud rate¶

Note: This parameter is for advanced users

Desired baud rate

Values

Value	Meaning
0	Low Speed
1	High Speed

SERIAL Parameters¶

SERIAL0_BAUD: Serial0 baud rate¶

The baud rate used on the USB console. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL0_PROTOCOL: Console protocol selection¶

Control what protocol to use on the console.

RebootRequired

Values

True

Value	Meaning
1	MAVlink1
2	MAVLink2

SERIAL1_PROTOCOL: Telem1 protocol selection¶

Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired

Values

True

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	MegaSquirt EFI
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
39	Torqeedo

SERIAL1_BAUD: Telem1 Baud Rate¶

The baud rate used on the Telem1 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL2_PROTOCOL: Telemetry 2 protocol selection¶

Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired

Values

True

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	MegaSquirt EFI
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
39	Torqeedo

SERIAL2_BAUD: Telemetry 2 Baud Rate¶

The baud rate of the Telem2 port. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL3_PROTOCOL: Serial 3 (GPS) protocol selection¶

Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired

Values

True

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	MegaSquirt EFI
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
39	Torqeedo

SERIAL3_BAUD: Serial 3 (GPS) Baud Rate¶

The baud rate used for the Serial 3 (GPS). Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL4_PROTOCOL: Serial4 protocol selection¶

Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired

Values

True

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	MegaSquirt EFI
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
39	Torqeedo

SERIAL4_BAUD: Serial 4 Baud Rate¶

The baud rate used for Serial4. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL5_PROTOCOL: Serial5 protocol selection¶

Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired

Values

True

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	MegaSquirt EFI
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
39	Torqeedo

SERIAL5_BAUD: Serial 5 Baud Rate¶

The baud rate used for Serial5. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL6_PROTOCOL: Serial6 protocol selection¶

Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired

Values

True

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	MegaSquirt EFI
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
39	Torqeedo

SERIAL6_BAUD: Serial 6 Baud Rate¶

The baud rate used for Serial6. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL1_OPTIONS: Telem1 options¶

Note: This parameter is for advanced users

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

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	Swap
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from
11	DisableFIFO

True

SERIAL2_OPTIONS: Telem2 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	Swap
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from
11	DisableFIFO

True

SERIAL3_OPTIONS: Serial3 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	Swap
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from
11	DisableFIFO

True

SERIAL4_OPTIONS: Serial4 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	Swap
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from
11	DisableFIFO

True

SERIAL5_OPTIONS: Serial5 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	Swap
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from
11	DisableFIFO

True

SERIAL6_OPTIONS: Serial6 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	Swap
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from
11	DisableFIFO

True

SERIAL_PASS1: Serial passthru first port¶

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

Values

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

SERIAL_PASS2: Serial passthru second port¶

Note: This parameter is for advanced users

This sets one side of pass-through between two serial ports. Once both sides are set then all data received on either port will be passed to the other port

Values

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

SERIAL_PASSTIMO: Serial passthru timeout¶

Note: This parameter is for advanced users

This sets a timeout for serial pass-through in seconds. When the pass-through is enabled by setting the SERIAL_PASS1 and SERIAL_PASS2 parameters then it remains in effect until no data comes from the first port for SERIAL_PASSTIMO seconds. This allows the port to revent to its normal usage (such as MAVLink connection to a GCS) when it is no longer needed. A value of 0 means no timeout.

Range	Units
0 - 120	seconds

SERIAL7_PROTOCOL: Serial7 protocol selection¶

Control what protocol Serial7 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired

Values

True

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	MegaSquirt EFI
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
39	Torqeedo

SERIAL7_BAUD: Serial 7 Baud Rate¶

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL7_OPTIONS: Serial7 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	Swap
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from
11	DisableFIFO

True

SERIAL8_PROTOCOL: Serial8 protocol selection¶

Control what protocol Serial8 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.

RebootRequired

Values

True

Value	Meaning
-1	None
1	MAVLink1
2	MAVLink2
3	Frsky D
4	Frsky SPort
5	GPS
7	Alexmos Gimbal Serial
8	SToRM32 Gimbal Serial
9	Rangefinder
10	FrSky SPort Passthrough (OpenTX)
11	Lidar360
13	Beacon
14	Volz servo out
15	SBus servo out
16	ESC Telemetry
17	Devo Telemetry
18	OpticalFlow
19	RobotisServo
20	NMEA Output
21	WindVane
22	SLCAN
23	RCIN
24	MegaSquirt EFI
25	LTM
26	RunCam
27	HottTelem
28	Scripting
29	Crossfire VTX
30	Generator
31	Winch
32	MSP
33	DJI FPV
34	AirSpeed
35	ADSB
36	AHRS
37	SmartAudio
39	Torqeedo

SERIAL8_BAUD: Serial 8 Baud Rate¶

The baud rate used for Serial7. Most stm32-based boards can support rates of up to 1500. If you setup a rate you cannot support and then can’t connect to your board you should load a firmware from a different vehicle type. That will reset all your parameters to defaults.

Values

Value	Meaning
1	1200
2	2400
4	4800
9	9600
19	19200
38	38400
57	57600
111	111100
115	115200
230	230400
256	256000
460	460800
500	500000
921	921600
1500	1500000

SERIAL8_OPTIONS: Serial8 options¶

Note: This parameter is for advanced users

Control over UART options. The InvertRX option controls invert of the receive pin. The InvertTX option controls invert of the transmit pin. The HalfDuplex option controls half-duplex (onewire) mode, where both transmit and receive is done on the transmit wire.

Bitmask

RebootRequired

Bit	Meaning
0	InvertRX
1	InvertTX
2	HalfDuplex
3	Swap
4	RX_PullDown
5	RX_PullUp
6	TX_PullDown
7	TX_PullUp
8	RX_NoDMA
9	TX_NoDMA
10	Don’t forward mavlink to/from
11	DisableFIFO

True

VISO Parameters¶

VISO_TYPE: Visual odometry camera connection type¶

Note: This parameter is for advanced users

Visual odometry camera connection type

RebootRequired

Values

True

Value	Meaning
0	None
1	MAVLink
2	IntelT265

VISO_POS_X: Visual odometry camera X position offset¶

Note: This parameter is for advanced users

X position of the camera in body frame. Positive X is forward of the origin.

Increment	Range	Units
0.01	-5 - 5	meters

VISO_POS_Y: Visual odometry camera Y position offset¶

Note: This parameter is for advanced users

Y position of the camera in body frame. Positive Y is to the right of the origin.

Increment	Range	Units
0.01	-5 - 5	meters

VISO_POS_Z: Visual odometry camera Z position offset¶

Note: This parameter is for advanced users

Z position of the camera in body frame. Positive Z is down from the origin.

Increment	Range	Units
0.01	-5 - 5	meters

VISO_ORIENT: Visual odometery camera orientation¶

Note: This parameter is for advanced users

Visual odometery camera orientation

Values

Value	Meaning
0	Forward
2	Right
4	Back
6	Left
24	Up
25	Down

VISO_SCALE: Visual odometry scaling factor¶

Note: This parameter is for advanced users

Visual odometry scaling factor applied to position estimates from sensor

VISO_DELAY_MS: Visual odometry sensor delay¶

Note: This parameter is for advanced users

Visual odometry sensor delay relative to inertial measurements

Range	Units
0 - 250	milliseconds

VISO_VEL_M_NSE: Visual odometry velocity measurement noise¶

Note: This parameter is for advanced users

Visual odometry velocity measurement noise in m/s

Range	Units
0.05 - 5.0	meters per second

VISO_POS_M_NSE: Visual odometry position measurement noise¶

Note: This parameter is for advanced users

Visual odometry position measurement noise minimum (meters). This value will be used if the sensor provides a lower noise value (or no noise value)

Range	Units
0.1 - 10.0	meters

VISO_YAW_M_NSE: Visual odometry yaw measurement noise¶

Note: This parameter is for advanced users

Visual odometry yaw measurement noise minimum (radians), This value will be used if the sensor provides a lower noise value (or no noise value)

Range	Units
0.05 - 1.0	radians

VTX_ Parameters¶

VTX_ENABLE: Is the Video Transmitter enabled or not¶

Toggles the Video Transmitter on and off

Values

Value	Meaning
0	Disable
1	Enable

VTX_POWER: Video Transmitter Power Level¶

Video Transmitter Power Level. Different VTXs support different power levels, the power level chosen will be rounded down to the nearest supported power level

Range
1 - 1000

VTX_CHANNEL: Video Transmitter Channel¶

Video Transmitter Channel

Range
0 - 7

VTX_BAND: Video Transmitter Band¶

Video Transmitter Band

Values

Value	Meaning
0	Band A
1	Band B
2	Band E
3	Airwave
4	RaceBand
5	Low RaceBand

VTX_FREQ: Video Transmitter Frequency¶

Video Transmitter Frequency. The frequency is derived from the setting of BAND and CHANNEL

Range	ReadOnly
5000 - 6000	True

VTX_OPTIONS: Video Transmitter Options¶

Note: This parameter is for advanced users

Video Transmitter Options. Pitmode puts the VTX in a low power state. Unlocked enables certain restricted frequencies and power levels. Do not enable the Unlocked option unless you have appropriate permissions in your jurisdiction to transmit at high power levels.

Bitmask

Bit	Meaning
0	Pitmode
1	Pitmode until armed
2	Pitmode when disarmed
3	Unlocked
4	Add leading zero byte to requests

VTX_MAX_POWER: Video Transmitter Max Power Level¶

Video Transmitter Maximum Power Level. Different VTXs support different power levels, this prevents the power aux switch from requesting too high a power level. The switch supports 6 power levels and the selected power will be a subdivision between 0 and this setting.

Range
25 - 1000