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
CAN_NODE: UAVCAN node that is used for this network
Note: This parameter is for advanced users
Note: Reboot required after change
UAVCAN node should be set implicitly or 0 for dynamic node allocation
CAN_BAUDRATE: Bitrate of CAN interface
Note: This parameter is for advanced users
Note: Reboot required after change
Bit rate can be set up to from 10000 to 1000000
CAN_PROTOCOL: Enable use of specific protocol to be used on this port
Note: This parameter is for advanced users
Note: Reboot required after change
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
Values |
Value |
Meaning |
0 |
Disabled |
1 |
UAVCAN |
4 |
PiccoloCAN |
5 |
CANTester |
6 |
EFI_NWPMU |
7 |
USD1 |
8 |
KDECAN |
|
CAN2_BAUDRATE: Bitrate of CAN2 interface
Note: This parameter is for advanced users
Note: Reboot required after change
Bit rate can be set up to from 10000 to 1000000
CAN2_PROTOCOL: Enable use of specific protocol to be used on this port
Note: This parameter is for advanced users
Note: Reboot required after change
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
Values |
Value |
Meaning |
0 |
Disabled |
1 |
UAVCAN |
4 |
PiccoloCAN |
5 |
CANTester |
6 |
EFI_NWPMU |
7 |
USD1 |
8 |
KDECAN |
|
CAN3_BAUDRATE: Bitrate of CAN3 interface
Note: This parameter is for advanced users
Note: Reboot required after change
Bit rate can be set up to from 10000 to 1000000
CAN3_PROTOCOL: Enable use of specific protocol to be used on this port
Note: This parameter is for advanced users
Note: Reboot required after change
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
Values |
Value |
Meaning |
0 |
Disabled |
1 |
UAVCAN |
4 |
PiccoloCAN |
5 |
CANTester |
6 |
EFI_NWPMU |
7 |
USD1 |
8 |
KDECAN |
|
CAN_FDMODE: Enable CANFD mode
Note: This parameter is for advanced users
Note: Reboot required after change
Enabling this option sets the CAN bus to be in CANFD mode with BRS.
Values |
Value |
Meaning |
0 |
Disabled |
1 |
Enabled |
|
CAN_FDBAUDRATE: Set up bitrate for data section on CAN1
Note: This parameter is for advanced users
Note: Reboot required after change
This sets the bitrate for the data section of CAN1.
Values |
Value |
Meaning |
1 |
1M |
2 |
2M |
4 |
4M |
5 |
5M |
8 |
8M |
|
CAN2_FDBAUDRATE: Set up bitrate for data section on CAN2
Note: This parameter is for advanced users
Note: Reboot required after change
This sets the bitrate for the data section of CAN2.
Values |
Value |
Meaning |
1 |
1M |
2 |
2M |
4 |
4M |
5 |
5M |
8 |
8M |
|
FLASH_BOOTLOADER: Trigger bootloader update
Note: This parameter is for advanced users
DANGER! When enabled, the App will perform a bootloader update by copying the embedded bootloader over the existing bootloader. This may take a few seconds to perform and should only be done if you know what you’re doing.
DEBUG: Debug
Note: This parameter is for advanced users
Debug
Bitmask |
Bit |
Meaning |
0 |
Disabled |
1 |
Show free stack space |
2 |
Auto Reboot after 15sec |
|
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
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
Note: Reboot required after change
This is the serial port number where SERIALx_PROTOCOL will be set to GPS.
MB_CAN_PORT: Moving Baseline CAN Port option
Note: This parameter is for advanced users
Note: Reboot required after change
Autoselect dedicated CAN port on which moving baseline data will be transmitted.
Values |
Value |
Meaning |
0 |
Sends moving baseline data on all ports |
1 |
auto select remaining port for transmitting Moving baseline Data |
|
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
Note: Reboot required after change
Rangefinder serial baudrate.
Increment |
Values |
1 |
Value |
Meaning |
1 |
1200 |
2 |
2400 |
4 |
4800 |
9 |
9600 |
19 |
19200 |
38 |
38400 |
57 |
57600 |
111 |
111100 |
115 |
115200 |
230 |
230400 |
256 |
256000 |
460 |
460800 |
500 |
500000 |
921 |
921600 |
1500 |
1500000 |
|
RNGFND_PORT: Rangefinder Serial Port
Note: This parameter is for advanced users
Note: Reboot required after change
This is the serial port number where SERIALx_PROTOCOL will be set to Rangefinder.
RNGFND_MAX_RATE: Rangefinder max rate
Note: This parameter is for advanced users
This is the maximum rate we send rangefinder data in Hz. Zero means no limit
Increment |
Range |
Units |
1 |
0 - 200 |
hertz |
ADSB_BAUDRATE: ADSB serial baudrate
Note: Reboot required after change
ADSB serial baudrate.
Increment |
Values |
1 |
Value |
Meaning |
1 |
1200 |
2 |
2400 |
4 |
4800 |
9 |
9600 |
19 |
19200 |
38 |
38400 |
57 |
57600 |
111 |
111100 |
115 |
115200 |
230 |
230400 |
256 |
256000 |
460 |
460800 |
500 |
500000 |
921 |
921600 |
1500 |
1500000 |
|
ADSB_PORT: ADSB Serial Port
Note: This parameter is for advanced users
Note: Reboot required after change
This is the serial port number where SERIALx_PROTOCOL will be set to ADSB.
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.
ESC_PWM_TYPE: Output PWM type
Note: This parameter is for advanced users
Note: Reboot required after change
This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
Values |
Value |
Meaning |
1 |
Normal |
2 |
OneShot |
3 |
OneShot125 |
4 |
Brushed |
5 |
DShot150 |
6 |
DShot300 |
7 |
DShot600 |
8 |
DShot1200 |
|
ESC_TELEM_PORT: ESC Telemetry Serial Port
Note: This parameter is for advanced users
Note: Reboot required after change
This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry
MSP_PORT: MSP Serial Port
Note: This parameter is for advanced users
Note: Reboot required after change
This is the serial port number where SERIALx_PROTOCOL will be set to MSP
LOG_BITMASK: Log bitmask
4 byte bitmap of log types to enable
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
EFI_BAUDRATE: EFI serial baudrate
Note: Reboot required after change
EFI serial baudrate.
Increment |
Values |
1 |
Value |
Meaning |
1 |
1200 |
2 |
2400 |
4 |
4800 |
9 |
9600 |
19 |
19200 |
38 |
38400 |
57 |
57600 |
111 |
111100 |
115 |
115200 |
230 |
230400 |
256 |
256000 |
460 |
460800 |
500 |
500000 |
921 |
921600 |
1500 |
1500000 |
|
EFI_PORT: EFI Serial Port
Note: This parameter is for advanced users
Note: Reboot required after change
This is the serial port number where SERIALx_PROTOCOL will be set to EFI.
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 |
DroneCAN |
9 |
I2C-DLVR-10in |
10 |
I2C-DLVR-20in |
11 |
I2C-DLVR-30in |
12 |
I2C-DLVR-60in |
13 |
NMEA water speed |
14 |
MSP |
15 |
ASP5033 |
100 |
SITL |
|
ARSP_DEVID: Airspeed ID
Note: This parameter is for advanced users
Airspeed sensor ID, taking into account its type, bus and instance
ARSP_OFFSET: Airspeed offset
Note: This parameter is for advanced users
Airspeed calibration offset
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.
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
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
Value |
Meaning |
0 |
Normal |
1 |
Swapped |
2 |
Auto Detect |
|
ARSP_SKIP_CAL: Skip airspeed offset calibration on startup
Note: This parameter is for advanced users
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
Value |
Meaning |
0 |
Disable |
1 |
Enable |
|
ARSP_PSI_RANGE: The PSI range of the device
Note: This parameter is for advanced users
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
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(auxiliary) |
|
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_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.
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.
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 |
DroneCAN |
9 |
I2C-DLVR-10in |
10 |
I2C-DLVR-20in |
11 |
I2C-DLVR-30in |
12 |
I2C-DLVR-60in |
13 |
NMEA water speed |
14 |
MSP |
15 |
ASP5033 |
|
ARSP2_OFFSET: Airspeed offset for 2nd airspeed sensor
Note: This parameter is for advanced users
Airspeed calibration offset
ARSP2_RATIO: Airspeed ratio for 2nd airspeed sensor
Note: This parameter is for advanced users
Airspeed calibration ratio
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_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 first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
Value |
Meaning |
0 |
Normal |
1 |
Swapped |
2 |
Auto Detect |
|
ARSP2_SKIP_CAL: Skip airspeed offset 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 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(auxiliary) |
|
ARSP2_DEVID: Airspeed2 ID
Note: This parameter is for advanced users
Airspeed2 sensor ID, taking into account its type, bus and instance
ARSPD Parameters
ARSPD_TYPE: Airspeed type
Type of airspeed sensor
Values |
Value |
Meaning |
0 |
None |
1 |
I2C-MS4525D0 |
2 |
Analog |
3 |
I2C-MS5525 |
4 |
I2C-MS5525 (0x76) |
5 |
I2C-MS5525 (0x77) |
6 |
I2C-SDP3X |
7 |
I2C-DLVR-5in |
8 |
DroneCAN |
9 |
I2C-DLVR-10in |
10 |
I2C-DLVR-20in |
11 |
I2C-DLVR-30in |
12 |
I2C-DLVR-60in |
13 |
NMEA water speed |
14 |
MSP |
15 |
ASP5033 |
100 |
SITL |
|
ARSPD_DEVID: Airspeed ID
Note: This parameter is for advanced users
Airspeed sensor ID, taking into account its type, bus and instance
ARSPD_OFFSET: Airspeed offset
Note: This parameter is for advanced users
Airspeed calibration offset
ARSPD_RATIO: Airspeed ratio
Note: This parameter is for advanced users
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
ARSPD_PIN: Airspeed pin
Note: This parameter is for advanced users
The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.
ARSPD_AUTOCAL: 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.
ARSPD_TUBE_ORDER: Control pitot tube order
Note: This parameter is for advanced users
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
Value |
Meaning |
0 |
Normal |
1 |
Swapped |
2 |
Auto Detect |
|
ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup
Note: This parameter is for advanced users
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
Value |
Meaning |
0 |
Disable |
1 |
Enable |
|
ARSPD_PSI_RANGE: The PSI range of the device
Note: This parameter is for advanced users
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD_BUS: Airspeed I2C bus
Note: This parameter is for advanced users
Bus number of the I2C bus where the airspeed sensor is connected
Values |
Value |
Meaning |
0 |
Bus0(internal) |
1 |
Bus1(external) |
2 |
Bus2(auxiliary) |
|
ARSPD_PRIMARY: Primary airspeed sensor
Note: This parameter is for advanced users
This selects which airspeed sensor will be the primary if multiple sensors are found
Values |
Value |
Meaning |
0 |
FirstSensor |
1 |
2ndSensor |
|
ARSPD_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.
ARSPD_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.
ARSPD2_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 |
DroneCAN |
9 |
I2C-DLVR-10in |
10 |
I2C-DLVR-20in |
11 |
I2C-DLVR-30in |
12 |
I2C-DLVR-60in |
13 |
NMEA water speed |
14 |
MSP |
15 |
ASP5033 |
|
ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor
Note: This parameter is for advanced users
Airspeed calibration offset
ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor
Note: This parameter is for advanced users
Airspeed calibration ratio
ARSPD2_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.
ARSPD2_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 first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
Value |
Meaning |
0 |
Normal |
1 |
Swapped |
2 |
Auto Detect |
|
ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup 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 |
|
ARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor
Note: This parameter is for advanced users
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD2_BUS: Airspeed I2C bus 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(auxiliary) |
|
ARSPD2_DEVID: Airspeed2 ID
Note: This parameter is for advanced users
Airspeed2 sensor ID, taking into account its type, bus and instance
BATT2_ Parameters
BATT2_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT2_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT2_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT2_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT2_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT2_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT2_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT2_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT2_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT2_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT2_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT2_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT2_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT2_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT2_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT2_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
BATT3_ Parameters
BATT3_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT3_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT3_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT3_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT3_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT3_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT3_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT3_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT3_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT3_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT3_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT3_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT3_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT3_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT3_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT3_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
BATT4_ Parameters
BATT4_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT4_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT4_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT4_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT4_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT4_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT4_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT4_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT4_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT4_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT4_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT4_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT4_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT4_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT4_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT4_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
BATT5_ Parameters
BATT5_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT5_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT5_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT5_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT5_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT5_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT5_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT5_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT5_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT5_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT5_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT5_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT5_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT5_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT5_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT5_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
BATT6_ Parameters
BATT6_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT6_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT6_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT6_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT6_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT6_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT6_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT6_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT6_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT6_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT6_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT6_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT6_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT6_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT6_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT6_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
BATT7_ Parameters
BATT7_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT7_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT7_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT7_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT7_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT7_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT7_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT7_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT7_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT7_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT7_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT7_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT7_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT7_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT7_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT7_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
BATT8_ Parameters
BATT8_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT8_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT8_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT8_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT8_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT8_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT8_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT8_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT8_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT8_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT8_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT8_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT8_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT8_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT8_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT8_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
BATT9_ Parameters
BATT9_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT9_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT9_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT9_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT9_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT9_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT9_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT9_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT9_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT9_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT9_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT9_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT9_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT9_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT9_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT9_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
BATT_ Parameters
BATT_MONITOR: Battery monitoring
Note: Reboot required after change
Controls enabling monitoring of the battery’s voltage and current
Values |
Value |
Meaning |
0 |
Disabled |
3 |
Analog Voltage Only |
4 |
Analog Voltage and Current |
5 |
Solo |
6 |
Bebop |
7 |
SMBus-Generic |
8 |
DroneCAN-BatteryInfo |
9 |
ESC |
10 |
Sum Of Selected Monitors |
11 |
FuelFlow |
12 |
FuelLevelPWM |
13 |
SMBUS-SUI3 |
14 |
SMBUS-SUI6 |
15 |
NeoDesign |
16 |
SMBus-Maxell |
17 |
Generator-Elec |
18 |
Generator-Fuel |
19 |
Rotoye |
20 |
MPPT |
21 |
INA2XX |
22 |
LTC2946 |
23 |
Torqeedo |
|
BATT_CAPACITY: Battery capacity
Capacity of the battery in mAh when full
Increment |
Units |
50 |
milliampere hour |
BATT_SERIAL_NUM: Battery serial number
Note: This parameter is for advanced users
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT_LOW_TIMER: Low voltage timeout
Note: This parameter is for advanced users
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
1 |
0 - 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.
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.
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.
BATT_ARM_MAH: Required arming remaining capacity
Note: This parameter is for advanced users
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.
Increment |
Units |
50 |
milliampere hour |
BATT_OPTIONS: Battery monitor options
Note: This parameter is for advanced users
This sets options to change the behaviour of the battery monitor
Bitmask |
Bit |
Meaning |
0 |
Ignore DroneCAN SoC |
1 |
MPPT reports input voltage and current |
2 |
MPPT Powered off when disarmed |
3 |
MPPT Powered on when armed |
4 |
MPPT Powered off at boot |
5 |
MPPT Powered on at boot |
6 |
Send resistance compensated voltage to GCS |
|
BATT_VOLT_PIN: Battery Voltage sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for voltage monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
2 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
5 |
Navigator |
13 |
Pixhawk2_PM2/CubeOrange_PM2 |
14 |
CubeOrange |
16 |
Durandal |
100 |
PX4-v1 |
|
BATT_CURR_PIN: Battery Current sensing pin
Note: Reboot required after change
Sets the analog input pin that should be used for current monitoring.
Values |
Value |
Meaning |
-1 |
Disabled |
3 |
Pixhawk/Pixracer/Navio2/Pixhawk2_PM1 |
4 |
CubeOrange_PM2/Navigator |
14 |
Pixhawk2_PM2 |
15 |
CubeOrange |
17 |
Durandal |
101 |
PX4-v1 |
|
BATT_VOLT_MULT: Voltage Multiplier
Note: This parameter is for advanced users
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery’s voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT_AMP_PERVLT: Amps per volt
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
BATT_AMP_OFFSET: AMP offset
Voltage offset at zero current on current sensor
BATT_VLT_OFFSET: Volage offset
Note: This parameter is for advanced users
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
BATT_I2C_BUS: Battery monitor I2C bus number
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C bus number
BATT_I2C_ADDR: Battery monitor I2C address
Note: This parameter is for advanced users
Note: Reboot required after change
Battery monitor I2C address
BATT_SUM_MASK: Battery Sum mask
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
Bit |
Meaning |
0 |
monitor 1 |
1 |
monitor 2 |
2 |
monitor 3 |
3 |
monitor 4 |
4 |
monitor 5 |
5 |
monitor 6 |
6 |
monitor 7 |
7 |
monitor 8 |
8 |
monitor 9 |
|
BATT_CURR_MULT: Scales reported power monitor current
Note: This parameter is for advanced users
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
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. The label for each option is specified in the order of rotations for that orientation.
Values |
Value |
Meaning |
0 |
None |
1 |
Yaw45 |
2 |
Yaw90 |
3 |
Yaw135 |
4 |
Yaw180 |
5 |
Yaw225 |
6 |
Yaw270 |
7 |
Yaw315 |
8 |
Roll180 |
9 |
Yaw45Roll180 |
10 |
Yaw90Roll180 |
11 |
Yaw135Roll180 |
12 |
Pitch180 |
13 |
Yaw225Roll180 |
14 |
Yaw270Roll180 |
15 |
Yaw315Roll180 |
16 |
Roll90 |
17 |
Yaw45Roll90 |
18 |
Yaw90Roll90 |
19 |
Yaw135Roll90 |
20 |
Roll270 |
21 |
Yaw45Roll270 |
22 |
Yaw90Roll270 |
23 |
Yaw135Roll270 |
24 |
Pitch90 |
25 |
Pitch270 |
26 |
Yaw90Pitch180 |
27 |
Yaw270Pitch180 |
28 |
Pitch90Roll90 |
29 |
Pitch90Roll180 |
30 |
Pitch90Roll270 |
31 |
Pitch180Roll90 |
32 |
Pitch180Roll270 |
33 |
Pitch270Roll90 |
34 |
Pitch270Roll180 |
35 |
Pitch270Roll270 |
36 |
Yaw90Pitch180Roll90 |
37 |
Yaw270Roll90 |
38 |
Yaw293Pitch68Roll180 |
39 |
Pitch315 |
40 |
Pitch315Roll90 |
42 |
Roll45 |
43 |
Roll315 |
100 |
Custom 4.1 and older |
101 |
Custom 1 |
102 |
Custom 2 |
|
COMPASS_EXTERNAL: Compass is attached via an external cable
Note: This parameter is for advanced users
Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
Value |
Meaning |
0 |
Internal |
1 |
External |
2 |
ForcedExternal |
|
COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis
Note: This parameter is for advanced users
Offset to be added to compass2’s x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
1 |
1 |
-400 - 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
COMPASS_DEV_ID2: Compass2 device id
Note: This parameter is for advanced users
Second compass’s device id. Automatically detected, do not set manually
COMPASS_DEV_ID3: Compass3 device id
Note: This parameter is for advanced users
Third compass’s device id. Automatically detected, do not set manually
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 |
Yaw45Roll180 |
10 |
Yaw90Roll180 |
11 |
Yaw135Roll180 |
12 |
Pitch180 |
13 |
Yaw225Roll180 |
14 |
Yaw270Roll180 |
15 |
Yaw315Roll180 |
16 |
Roll90 |
17 |
Yaw45Roll90 |
18 |
Yaw90Roll90 |
19 |
Yaw135Roll90 |
20 |
Roll270 |
21 |
Yaw45Roll270 |
22 |
Yaw90Roll270 |
23 |
Yaw135Roll270 |
24 |
Pitch90 |
25 |
Pitch270 |
26 |
Yaw90Pitch180 |
27 |
Yaw270Pitch180 |
28 |
Pitch90Roll90 |
29 |
Pitch90Roll180 |
30 |
Pitch90Roll270 |
31 |
Pitch180Roll90 |
32 |
Pitch180Roll270 |
33 |
Pitch270Roll90 |
34 |
Pitch270Roll180 |
35 |
Pitch270Roll270 |
36 |
Yaw90Pitch180Roll90 |
37 |
Yaw270Roll90 |
38 |
Yaw293Pitch68Roll180 |
39 |
Pitch315 |
40 |
Pitch315Roll90 |
42 |
Roll45 |
43 |
Roll315 |
100 |
Custom 4.1 and older |
101 |
Custom 1 |
102 |
Custom 2 |
|
COMPASS_EXTERN2: Compass2 is attached via an external cable
Note: This parameter is for advanced users
Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
Value |
Meaning |
0 |
Internal |
1 |
External |
2 |
ForcedExternal |
|
COMPASS_USE3: Compass3 used for yaw
Note: This parameter is for advanced users
Enable or disable the tertiary compass for determining heading.
Values |
Value |
Meaning |
0 |
Disabled |
1 |
Enabled |
|
COMPASS_ORIENT3: Compass3 orientation
Note: This parameter is for advanced users
The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
Values |
Value |
Meaning |
0 |
None |
1 |
Yaw45 |
2 |
Yaw90 |
3 |
Yaw135 |
4 |
Yaw180 |
5 |
Yaw225 |
6 |
Yaw270 |
7 |
Yaw315 |
8 |
Roll180 |
9 |
Yaw45Roll180 |
10 |
Yaw90Roll180 |
11 |
Yaw135Roll180 |
12 |
Pitch180 |
13 |
Yaw225Roll180 |
14 |
Yaw270Roll180 |
15 |
Yaw315Roll180 |
16 |
Roll90 |
17 |
Yaw45Roll90 |
18 |
Yaw90Roll90 |
19 |
Yaw135Roll90 |
20 |
Roll270 |
21 |
Yaw45Roll270 |
22 |
Yaw90Roll270 |
23 |
Yaw135Roll270 |
24 |
Pitch90 |
25 |
Pitch270 |
26 |
Yaw90Pitch180 |
27 |
Yaw270Pitch180 |
28 |
Pitch90Roll90 |
29 |
Pitch90Roll180 |
30 |
Pitch90Roll270 |
31 |
Pitch180Roll90 |
32 |
Pitch180Roll270 |
33 |
Pitch270Roll90 |
34 |
Pitch270Roll180 |
35 |
Pitch270Roll270 |
36 |
Yaw90Pitch180Roll90 |
37 |
Yaw270Roll90 |
38 |
Yaw293Pitch68Roll180 |
39 |
Pitch315 |
40 |
Pitch315Roll90 |
42 |
Roll45 |
43 |
Roll315 |
100 |
Custom 4.1 and older |
101 |
Custom 1 |
102 |
Custom 2 |
|
COMPASS_EXTERN3: Compass3 is attached via an external cable
Note: This parameter is for advanced users
Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
Value |
Meaning |
0 |
Internal |
1 |
External |
2 |
ForcedExternal |
|
COMPASS_DIA_X: Compass soft-iron diagonal X component
Note: This parameter is for advanced users
DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
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]]
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]]
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]]
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]]
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]]
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]]
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]]
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]]
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]]
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]]
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]]
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 |
DroneCAN |
12 |
QMC5883 |
14 |
MAG3110 |
15 |
IST8308 |
16 |
RM3100 |
17 |
MSP |
18 |
ExternalAHRS |
|
COMPASS_FLTR_RNG: Range in which sample is accepted
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
1 |
0 - 100 |
percent |
COMPASS_AUTO_ROT: Automatically check orientation
When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
Values |
Value |
Meaning |
0 |
Disabled |
1 |
CheckOnly |
2 |
CheckAndFix |
3 |
use same tolerance to auto rotate 45 deg rotations |
|
COMPASS_PRIO1_ID: Compass device id with 1st order priority
Note: This parameter is for advanced users
Note: Reboot required after change
Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO2_ID: Compass device id with 2nd order priority
Note: This parameter is for advanced users
Note: Reboot required after change
Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO3_ID: Compass device id with 3rd order priority
Note: This parameter is for advanced users
Note: Reboot required after change
Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
COMPASS_ENABLE: Enable Compass
Note: Reboot required after change
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
Values |
Value |
Meaning |
0 |
Disabled |
1 |
Enabled |
|
COMPASS_SCALE: Compass1 scale factor
Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
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
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
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
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
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
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
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
COMPASS_CUS_ROLL: Custom orientation roll offset
Note: This parameter is for advanced users
Note: Reboot required after change
Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
1 |
-180 - 180 |
degrees |
COMPASS_CUS_PIT: Custom orientation pitch offset
Note: This parameter is for advanced users
Note: Reboot required after change
Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
1 |
-180 - 180 |
degrees |
COMPASS_CUS_YAW: Custom orientation yaw offset
Note: This parameter is for advanced users
Note: Reboot required after change
Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
1 |
-180 - 180 |
degrees |
GPS Parameters
GPS_TYPE: 1st GPS type
Note: This parameter is for advanced users
Note: Reboot required after change
GPS type of 1st GPS
Values |
Value |
Meaning |
0 |
None |
1 |
AUTO |
2 |
uBlox |
5 |
NMEA |
6 |
SiRF |
7 |
HIL |
8 |
SwiftNav |
9 |
DroneCAN |
10 |
SBF |
11 |
GSOF |
13 |
ERB |
14 |
MAV |
15 |
NOVA |
16 |
HemisphereNMEA |
17 |
uBlox-MovingBaseline-Base |
18 |
uBlox-MovingBaseline-Rover |
19 |
MSP |
20 |
AllyStar |
21 |
ExternalAHRS |
22 |
DroneCAN-MovingBaseline-Base |
23 |
DroneCAN-MovingBaseline-Rover |
|
GPS_TYPE2: 2nd GPS type
Note: This parameter is for advanced users
Note: Reboot required after change
GPS type of 2nd GPS
Values |
Value |
Meaning |
0 |
None |
1 |
AUTO |
2 |
uBlox |
5 |
NMEA |
6 |
SiRF |
7 |
HIL |
8 |
SwiftNav |
9 |
DroneCAN |
10 |
SBF |
11 |
GSOF |
13 |
ERB |
14 |
MAV |
15 |
NOVA |
16 |
HemisphereNMEA |
17 |
uBlox-MovingBaseline-Base |
18 |
uBlox-MovingBaseline-Rover |
19 |
MSP |
20 |
AllyStar |
21 |
ExternalAHRS |
22 |
DroneCAN-MovingBaseline-Base |
23 |
DroneCAN-MovingBaseline-Rover |
|
GPS_NAVFILTER: Navigation filter setting
Note: This parameter is for advanced users
Navigation filter engine setting
Values |
Value |
Meaning |
0 |
Portable |
2 |
Stationary |
3 |
Pedestrian |
4 |
Automotive |
5 |
Sea |
6 |
Airborne1G |
7 |
Airborne2G |
8 |
Airborne4G |
|
GPS_AUTO_SWITCH: Automatic Switchover Setting
Note: This parameter is for advanced users
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to ‘UseBest’ behaviour if 3D fix is lost on primary
Values |
Value |
Meaning |
0 |
Use primary |
1 |
UseBest |
2 |
Blend |
4 |
Use primary if 3D fix or better |
|
GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS
Note: This parameter is for advanced users
Note: Reboot required after change
Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
Values |
Value |
Meaning |
0 |
Any |
50 |
FloatRTK |
100 |
IntegerRTK |
|
GPS_SBAS_MODE: SBAS Mode
Note: This parameter is for advanced users
This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
Values |
Value |
Meaning |
0 |
Disabled |
1 |
Enabled |
2 |
NoChange |
|
GPS_MIN_ELEV: Minimum elevation
Note: This parameter is for advanced users
This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.
Range |
Units |
-100 - 90 |
degrees |
GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets
Note: This parameter is for advanced users
The GGS can send raw serial packets to inject data to multiple GPSes.
Values |
Value |
Meaning |
0 |
send to first GPS |
1 |
send to 2nd GPS |
127 |
send to all |
|
GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask
Note: This parameter is for advanced users
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
Values |
Value |
Meaning |
0 |
None (0x0000) |
-1 |
All (0xFFFF) |
-256 |
External only (0xFF00) |
|
GPS_RAW_DATA: Raw data logging
Note: This parameter is for advanced users
Note: Reboot required after change
Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment’s SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
Values |
Value |
Meaning |
0 |
Ignore |
1 |
Always log |
2 |
Stop logging when disarmed (SBF only) |
5 |
Only log every five samples (uBlox only) |
|
GPS_GNSS_MODE: GNSS system configuration
Note: This parameter is for advanced users
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
Bit |
Meaning |
0 |
GPS |
1 |
SBAS |
2 |
Galileo |
3 |
Beidou |
4 |
IMES |
5 |
QZSS |
6 |
GLONASS |
|
GPS_SAVE_CFG: Save GPS configuration
Note: This parameter is for advanced users
Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
Values |
Value |
Meaning |
0 |
Do not save config |
1 |
Save config |
2 |
Save only when needed |
|
GPS_GNSS_MODE2: GNSS system configuration
Note: This parameter is for advanced users
Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
Bit |
Meaning |
0 |
GPS |
1 |
SBAS |
2 |
Galileo |
3 |
Beidou |
4 |
IMES |
5 |
QZSS |
6 |
GLONASS |
|
GPS_AUTO_CONFIG: Automatic GPS configuration
Note: This parameter is for advanced users
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
Values |
Value |
Meaning |
0 |
Disables automatic configuration |
1 |
Enable automatic configuration for Serial GPSes only |
2 |
Enable automatic configuration for DroneCAN as well |
|
GPS_RATE_MS: GPS update rate in milliseconds
Note: This parameter is for advanced users
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
50 - 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
Note: Reboot required after change
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Range |
Units |
0 - 250 |
milliseconds |
GPS_DELAY_MS2: GPS 2 delay in milliseconds
Note: This parameter is for advanced users
Note: Reboot required after change
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Range |
Units |
0 - 250 |
milliseconds |
GPS_BLEND_MASK: Multi GPS Blending Mask
Note: This parameter is for advanced users
Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
Bitmask |
Bit |
Meaning |
0 |
Horiz Pos |
1 |
Vert Pos |
2 |
Speed |
|
GPS_BLEND_TC: Blending time constant
Note: This parameter is for advanced users
Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.
Range |
Units |
5.0 - 30.0 |
seconds |
GPS_DRV_OPTIONS: driver options
Note: This parameter is for advanced users
Additional backend specific options
Bitmask |
Bit |
Meaning |
0 |
Use UART2 for moving baseline on ublox |
1 |
Use base station for GPS yaw on SBF |
2 |
Use baudrate 115200 |
3 |
Use dedicated CAN port b/w GPSes for moving baseline |
4 |
Use ellipsoid height instead of AMSL for uBlox driver |
|
GPS_PRIMARY: Primary GPS
Note: This parameter is for advanced users
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
Increment |
Values |
1 |
Value |
Meaning |
0 |
FirstGPS |
1 |
SecondGPS |
|
GPS_CAN_NODEID1: GPS Node ID 1
Note: This parameter is for advanced users
GPS Node id for first-discovered GPS.
GPS_CAN_NODEID2: GPS Node ID 2
Note: This parameter is for advanced users
GPS Node id for second-discovered GPS.
GPS1_CAN_OVRIDE: First DroneCAN GPS NODE ID
Note: This parameter is for advanced users
GPS Node id for first GPS. If 0 the gps will be automatically selected on a first-come-first-GPS basis.
GPS2_CAN_OVRIDE: Second DroneCAN GPS NODE ID
Note: This parameter is for advanced users
GPS Node id for second GPS. If 0 the gps will be automatically selected on a second-come-second-GPS basis.
RNGFND1_ Parameters
RNGFND1_TYPE: Rangefinder type
Type of connected rangefinder
Values |
Value |
Meaning |
0 |
None |
1 |
Analog |
2 |
MaxbotixI2C |
3 |
LidarLite-I2C |
5 |
PWM |
6 |
BBB-PRU |
7 |
LightWareI2C |
8 |
LightWareSerial |
9 |
Bebop |
10 |
MAVLink |
11 |
USD1_Serial |
12 |
LeddarOne |
13 |
MaxbotixSerial |
14 |
TeraRangerI2C |
15 |
LidarLiteV3-I2C |
16 |
VL53L0X or VL53L1X |
17 |
NMEA |
18 |
WASP-LRF |
19 |
BenewakeTF02 |
20 |
Benewake-Serial |
21 |
LidarLightV3HP |
22 |
PWM |
23 |
BlueRoboticsPing |
24 |
DroneCAN |
25 |
BenewakeTFminiPlus-I2C |
26 |
LanbaoPSK-CM8JL65-CC5 |
27 |
BenewakeTF03 |
28 |
VL53L1X-ShortRange |
29 |
LeddarVu8-Serial |
30 |
HC-SR04 |
31 |
GYUS42v2 |
32 |
MSP |
33 |
USD1_CAN |
34 |
Benewake_CAN |
100 |
SITL |
|
RNGFND1_PIN: Rangefinder pin
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki’s “GPIOs” section for details.
Values |
Value |
Meaning |
-1 |
Not Used |
11 |
Pixracer |
13 |
Pixhawk ADC4 |
14 |
Pixhawk ADC3 |
15 |
Pixhawk ADC6/Pixhawk2 ADC |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
103 |
Pixhawk SBUS |
|
RNGFND1_SCALING: Rangefinder scaling
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.
Increment |
Units |
0.001 |
meters per volt |
RNGFND1_OFFSET: rangefinder offset
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
0.001 |
volt |
RNGFND1_FUNCTION: Rangefinder function
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
Value |
Meaning |
0 |
Linear |
1 |
Inverted |
2 |
Hyperbolic |
|
RNGFND1_MIN_CM: Rangefinder minimum distance
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND1_MAX_CM: Rangefinder maximum distance
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND1_STOP_PIN: Rangefinder stop pin
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values |
Value |
Meaning |
-1 |
Not Used |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
111 |
PX4 FMU Relay1 |
112 |
PX4 FMU Relay2 |
113 |
PX4IO Relay1 |
114 |
PX4IO Relay2 |
115 |
PX4IO ACC1 |
116 |
PX4IO ACC2 |
|
RNGFND1_RMETRIC: Ratiometric
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
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 DroneCAN 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
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.
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
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
RNGFND1_WSP_BAUD: Baud rate
Note: This parameter is for advanced users
Desired baud rate
Values |
Value |
Meaning |
0 |
Low Speed |
1 |
High Speed |
|
RNGFND1_RECV_ID: CAN receive ID
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RNGFND1_SNR_MIN: Minimum signal strength
Note: This parameter is for advanced users
Minimum signal strength (SNR) to accept distance
RNGFND2_ Parameters
RNGFND2_TYPE: Rangefinder type
Type of connected rangefinder
Values |
Value |
Meaning |
0 |
None |
1 |
Analog |
2 |
MaxbotixI2C |
3 |
LidarLite-I2C |
5 |
PWM |
6 |
BBB-PRU |
7 |
LightWareI2C |
8 |
LightWareSerial |
9 |
Bebop |
10 |
MAVLink |
11 |
USD1_Serial |
12 |
LeddarOne |
13 |
MaxbotixSerial |
14 |
TeraRangerI2C |
15 |
LidarLiteV3-I2C |
16 |
VL53L0X or VL53L1X |
17 |
NMEA |
18 |
WASP-LRF |
19 |
BenewakeTF02 |
20 |
Benewake-Serial |
21 |
LidarLightV3HP |
22 |
PWM |
23 |
BlueRoboticsPing |
24 |
DroneCAN |
25 |
BenewakeTFminiPlus-I2C |
26 |
LanbaoPSK-CM8JL65-CC5 |
27 |
BenewakeTF03 |
28 |
VL53L1X-ShortRange |
29 |
LeddarVu8-Serial |
30 |
HC-SR04 |
31 |
GYUS42v2 |
32 |
MSP |
33 |
USD1_CAN |
34 |
Benewake_CAN |
100 |
SITL |
|
RNGFND2_PIN: Rangefinder pin
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki’s “GPIOs” section for details.
Values |
Value |
Meaning |
-1 |
Not Used |
11 |
Pixracer |
13 |
Pixhawk ADC4 |
14 |
Pixhawk ADC3 |
15 |
Pixhawk ADC6/Pixhawk2 ADC |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
103 |
Pixhawk SBUS |
|
RNGFND2_SCALING: Rangefinder scaling
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.
Increment |
Units |
0.001 |
meters per volt |
RNGFND2_OFFSET: rangefinder offset
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
0.001 |
volt |
RNGFND2_FUNCTION: Rangefinder function
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
Value |
Meaning |
0 |
Linear |
1 |
Inverted |
2 |
Hyperbolic |
|
RNGFND2_MIN_CM: Rangefinder minimum distance
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND2_MAX_CM: Rangefinder maximum distance
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND2_STOP_PIN: Rangefinder stop pin
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values |
Value |
Meaning |
-1 |
Not Used |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
111 |
PX4 FMU Relay1 |
112 |
PX4 FMU Relay2 |
113 |
PX4IO Relay1 |
114 |
PX4IO Relay2 |
115 |
PX4IO ACC1 |
116 |
PX4IO ACC2 |
|
RNGFND2_RMETRIC: Ratiometric
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
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 DroneCAN 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
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.
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
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
RNGFND2_WSP_BAUD: Baud rate
Note: This parameter is for advanced users
Desired baud rate
Values |
Value |
Meaning |
0 |
Low Speed |
1 |
High Speed |
|
RNGFND2_RECV_ID: CAN receive ID
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RNGFND2_SNR_MIN: Minimum signal strength
Note: This parameter is for advanced users
Minimum signal strength (SNR) to accept distance
RNGFND3_ Parameters
RNGFND3_TYPE: Rangefinder type
Type of connected rangefinder
Values |
Value |
Meaning |
0 |
None |
1 |
Analog |
2 |
MaxbotixI2C |
3 |
LidarLite-I2C |
5 |
PWM |
6 |
BBB-PRU |
7 |
LightWareI2C |
8 |
LightWareSerial |
9 |
Bebop |
10 |
MAVLink |
11 |
USD1_Serial |
12 |
LeddarOne |
13 |
MaxbotixSerial |
14 |
TeraRangerI2C |
15 |
LidarLiteV3-I2C |
16 |
VL53L0X or VL53L1X |
17 |
NMEA |
18 |
WASP-LRF |
19 |
BenewakeTF02 |
20 |
Benewake-Serial |
21 |
LidarLightV3HP |
22 |
PWM |
23 |
BlueRoboticsPing |
24 |
DroneCAN |
25 |
BenewakeTFminiPlus-I2C |
26 |
LanbaoPSK-CM8JL65-CC5 |
27 |
BenewakeTF03 |
28 |
VL53L1X-ShortRange |
29 |
LeddarVu8-Serial |
30 |
HC-SR04 |
31 |
GYUS42v2 |
32 |
MSP |
33 |
USD1_CAN |
34 |
Benewake_CAN |
100 |
SITL |
|
RNGFND3_PIN: Rangefinder pin
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki’s “GPIOs” section for details.
Values |
Value |
Meaning |
-1 |
Not Used |
11 |
Pixracer |
13 |
Pixhawk ADC4 |
14 |
Pixhawk ADC3 |
15 |
Pixhawk ADC6/Pixhawk2 ADC |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
103 |
Pixhawk SBUS |
|
RNGFND3_SCALING: Rangefinder scaling
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.
Increment |
Units |
0.001 |
meters per volt |
RNGFND3_OFFSET: rangefinder offset
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
0.001 |
volt |
RNGFND3_FUNCTION: Rangefinder function
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
Value |
Meaning |
0 |
Linear |
1 |
Inverted |
2 |
Hyperbolic |
|
RNGFND3_MIN_CM: Rangefinder minimum distance
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND3_MAX_CM: Rangefinder maximum distance
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND3_STOP_PIN: Rangefinder stop pin
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values |
Value |
Meaning |
-1 |
Not Used |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
111 |
PX4 FMU Relay1 |
112 |
PX4 FMU Relay2 |
113 |
PX4IO Relay1 |
114 |
PX4IO Relay2 |
115 |
PX4IO ACC1 |
116 |
PX4IO ACC2 |
|
RNGFND3_RMETRIC: Ratiometric
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
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 DroneCAN 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
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.
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
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
RNGFND3_WSP_BAUD: Baud rate
Note: This parameter is for advanced users
Desired baud rate
Values |
Value |
Meaning |
0 |
Low Speed |
1 |
High Speed |
|
RNGFND3_RECV_ID: CAN receive ID
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RNGFND3_SNR_MIN: Minimum signal strength
Note: This parameter is for advanced users
Minimum signal strength (SNR) to accept distance
RNGFND4_ Parameters
RNGFND4_TYPE: Rangefinder type
Type of connected rangefinder
Values |
Value |
Meaning |
0 |
None |
1 |
Analog |
2 |
MaxbotixI2C |
3 |
LidarLite-I2C |
5 |
PWM |
6 |
BBB-PRU |
7 |
LightWareI2C |
8 |
LightWareSerial |
9 |
Bebop |
10 |
MAVLink |
11 |
USD1_Serial |
12 |
LeddarOne |
13 |
MaxbotixSerial |
14 |
TeraRangerI2C |
15 |
LidarLiteV3-I2C |
16 |
VL53L0X or VL53L1X |
17 |
NMEA |
18 |
WASP-LRF |
19 |
BenewakeTF02 |
20 |
Benewake-Serial |
21 |
LidarLightV3HP |
22 |
PWM |
23 |
BlueRoboticsPing |
24 |
DroneCAN |
25 |
BenewakeTFminiPlus-I2C |
26 |
LanbaoPSK-CM8JL65-CC5 |
27 |
BenewakeTF03 |
28 |
VL53L1X-ShortRange |
29 |
LeddarVu8-Serial |
30 |
HC-SR04 |
31 |
GYUS42v2 |
32 |
MSP |
33 |
USD1_CAN |
34 |
Benewake_CAN |
100 |
SITL |
|
RNGFND4_PIN: Rangefinder pin
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki’s “GPIOs” section for details.
Values |
Value |
Meaning |
-1 |
Not Used |
11 |
Pixracer |
13 |
Pixhawk ADC4 |
14 |
Pixhawk ADC3 |
15 |
Pixhawk ADC6/Pixhawk2 ADC |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
103 |
Pixhawk SBUS |
|
RNGFND4_SCALING: Rangefinder scaling
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.
Increment |
Units |
0.001 |
meters per volt |
RNGFND4_OFFSET: rangefinder offset
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
0.001 |
volt |
RNGFND4_FUNCTION: Rangefinder function
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
Value |
Meaning |
0 |
Linear |
1 |
Inverted |
2 |
Hyperbolic |
|
RNGFND4_MIN_CM: Rangefinder minimum distance
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND4_MAX_CM: Rangefinder maximum distance
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND4_STOP_PIN: Rangefinder stop pin
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values |
Value |
Meaning |
-1 |
Not Used |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
111 |
PX4 FMU Relay1 |
112 |
PX4 FMU Relay2 |
113 |
PX4IO Relay1 |
114 |
PX4IO Relay2 |
115 |
PX4IO ACC1 |
116 |
PX4IO ACC2 |
|
RNGFND4_RMETRIC: Ratiometric
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
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 DroneCAN 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
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.
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
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
RNGFND4_WSP_BAUD: Baud rate
Note: This parameter is for advanced users
Desired baud rate
Values |
Value |
Meaning |
0 |
Low Speed |
1 |
High Speed |
|
RNGFND4_RECV_ID: CAN receive ID
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RNGFND4_SNR_MIN: Minimum signal strength
Note: This parameter is for advanced users
Minimum signal strength (SNR) to accept distance
RNGFND5_ Parameters
RNGFND5_TYPE: Rangefinder type
Type of connected rangefinder
Values |
Value |
Meaning |
0 |
None |
1 |
Analog |
2 |
MaxbotixI2C |
3 |
LidarLite-I2C |
5 |
PWM |
6 |
BBB-PRU |
7 |
LightWareI2C |
8 |
LightWareSerial |
9 |
Bebop |
10 |
MAVLink |
11 |
USD1_Serial |
12 |
LeddarOne |
13 |
MaxbotixSerial |
14 |
TeraRangerI2C |
15 |
LidarLiteV3-I2C |
16 |
VL53L0X or VL53L1X |
17 |
NMEA |
18 |
WASP-LRF |
19 |
BenewakeTF02 |
20 |
Benewake-Serial |
21 |
LidarLightV3HP |
22 |
PWM |
23 |
BlueRoboticsPing |
24 |
DroneCAN |
25 |
BenewakeTFminiPlus-I2C |
26 |
LanbaoPSK-CM8JL65-CC5 |
27 |
BenewakeTF03 |
28 |
VL53L1X-ShortRange |
29 |
LeddarVu8-Serial |
30 |
HC-SR04 |
31 |
GYUS42v2 |
32 |
MSP |
33 |
USD1_CAN |
34 |
Benewake_CAN |
100 |
SITL |
|
RNGFND5_PIN: Rangefinder pin
Analog or PWM input pin that rangefinder is connected to. Airspeed ports can be used for Analog input, AUXOUT can be used for PWM input. When using analog pin 103, the maximum value of the input in 3.3V. For PWM input, the pin must be configured as a digital GPIO, see the Wiki’s “GPIOs” section for details.
Values |
Value |
Meaning |
-1 |
Not Used |
11 |
Pixracer |
13 |
Pixhawk ADC4 |
14 |
Pixhawk ADC3 |
15 |
Pixhawk ADC6/Pixhawk2 ADC |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
103 |
Pixhawk SBUS |
|
RNGFND5_SCALING: Rangefinder scaling
Scaling factor between rangefinder reading and distance. For the linear and inverted functions this is in meters per volt. For the hyperbolic function the units are meterVolts. For Maxbotix serial sonar this is unit conversion to meters.
Increment |
Units |
0.001 |
meters per volt |
RNGFND5_OFFSET: rangefinder offset
Offset in volts for zero distance for analog rangefinders. Offset added to distance in centimeters for PWM lidars
Increment |
Units |
0.001 |
volt |
RNGFND5_FUNCTION: Rangefinder function
Control over what function is used to calculate distance. For a linear function, the distance is (voltage-offset)*scaling. For a inverted function the distance is (offset-voltage)*scaling. For a hyperbolic function the distance is scaling/(voltage-offset). The functions return the distance in meters.
Values |
Value |
Meaning |
0 |
Linear |
1 |
Inverted |
2 |
Hyperbolic |
|
RNGFND5_MIN_CM: Rangefinder minimum distance
Minimum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND5_MAX_CM: Rangefinder maximum distance
Maximum distance in centimeters that rangefinder can reliably read
Increment |
Units |
1 |
centimeters |
RNGFND5_STOP_PIN: Rangefinder stop pin
Digital pin that enables/disables rangefinder measurement for the pwm rangefinder. A value of -1 means no pin. If this is set, then the pin is set to 1 to enable the rangefinder and set to 0 to disable it. This is used to enable powersaving when out of range. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values |
Value |
Meaning |
-1 |
Not Used |
50 |
AUX1 |
51 |
AUX2 |
52 |
AUX3 |
53 |
AUX4 |
54 |
AUX5 |
55 |
AUX6 |
111 |
PX4 FMU Relay1 |
112 |
PX4 FMU Relay2 |
113 |
PX4IO Relay1 |
114 |
PX4IO Relay2 |
115 |
PX4IO ACC1 |
116 |
PX4IO ACC2 |
|
RNGFND5_RMETRIC: Ratiometric
This parameter sets whether an analog rangefinder is ratiometric. Most analog rangefinders are ratiometric, meaning that their output voltage is influenced by the supply voltage. Some analog rangefinders (such as the SF/02) have their own internal voltage regulators so they are not ratiometric.
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 DroneCAN 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
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.
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
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
RNGFND5_WSP_BAUD: Baud rate
Note: This parameter is for advanced users
Desired baud rate
Values |
Value |
Meaning |
0 |
Low Speed |
1 |
High Speed |
|
RNGFND5_RECV_ID: CAN receive ID
Note: This parameter is for advanced users
The receive ID of the CAN frames. A value of zero means all IDs are accepted.
RNGFND5_SNR_MIN: Minimum signal strength
Note: This parameter is for advanced users
Minimum signal strength (SNR) to accept distance