Complete Parameter List

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

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

AP_Periph Parameters

FORMAT_VERSION: Eeprom format version number

Note: This parameter is for advanced users

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

CAN_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

0 to 250

CAN_BAUDRATE: Bitrate of CAN interface

Note: This parameter is for advanced users
Note: Reboot required after change

Bit rate can be set up to from 10000 to 1000000

Range

10000 to 1000000

CAN_SLCAN_CPORT: SLCAN Route

Note: Reboot required after change

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

Values

Value

Meaning

0

Disabled

1

First interface

2

Second interface

CAN_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

Range

10000 to 1000000

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

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values

Value

Meaning

0

Disabled

1

UAVCAN

4

PiccoloCAN

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

Range

10000 to 1000000

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

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values

Value

Meaning

0

Disabled

1

UAVCAN

4

PiccoloCAN

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.

Range

0 to 1

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

Range

0 to 2147483648

BUZZER_VOLUME: Buzzer volume

Note: This parameter is for advanced users

Control the volume of the buzzer

Increment

Range

Units

1

0 to 100

percent

GPS_PORT: GPS Serial Port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 10

MB_CAN_PORT: Moving Baseline CAN Port option

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values

Value

Meaning

0

Sends moving baseline data on all ports

1

auto select remaining port for transmitting Moving baseline Data

BARO_ENABLE: Barometer Enable

Barometer Enable

Values

Value

Meaning

0

Disabled

1

Enabled

LED_BRIGHTNESS: LED Brightness

Select the RGB LED brightness level.

Increment

Range

Units

1

0 to 100

percent

RNGFND_BAUDRATE: Rangefinder serial baudrate

Note: Reboot required after change

Rangefinder serial baudrate.

Increment

Values

1

Value

Meaning

1

1200

2

2400

4

4800

9

9600

19

19200

38

38400

57

57600

111

111100

115

115200

230

230400

256

256000

460

460800

500

500000

921

921600

1500

1500000

RNGFND_PORT: Rangefinder Serial Port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 10

RNGFND_MAX_RATE: Rangefinder max rate

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 200

hertz

ADSB_BAUDRATE: ADSB serial baudrate

Note: Reboot required after change

ADSB serial baudrate.

Increment

Values

1

Value

Meaning

1

1200

2

2400

4

4800

9

9600

19

19200

38

38400

57

57600

111

111100

115

115200

230

230400

256

256000

460

460800

500

500000

921

921600

1500

1500000

ADSB_PORT: ADSB Serial Port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 10

HARDPOINT_ID: Hardpoint ID

Note: This parameter is for advanced users

Hardpoint ID

HARDPOINT_RATE: Hardpoint PWM rate

Note: This parameter is for advanced users

Hardpoint PWM rate

Increment

Range

Units

1

10 to 100

hertz

ESC_NUMBER: ESC number

Note: This parameter is for advanced users

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

Increment

1

ESC_PWM_TYPE: Output PWM type

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values

Value

Meaning

1

Normal

2

OneShot

3

OneShot125

4

Brushed

5

DShot150

6

DShot300

7

DShot600

8

DShot1200

ESC_CMD_TIMO: ESC Command Timeout

Note: This parameter is for advanced users

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

Range

Units

0 to 10000

milliseconds

ESC_TELEM_PORT: ESC Telemetry Serial Port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 10

ESC_TELEM_RATE: ESC Telemetry update rate

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 1000

MSP_PORT: MSP Serial Port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 10

LOG_BITMASK: Log bitmask

4 byte bitmap of log types to enable

Bitmask

Bit

Meaning

2

GPS

EFI_BAUDRATE: EFI serial baudrate

Note: Reboot required after change

EFI serial baudrate.

Increment

Values

1

Value

Meaning

1

1200

2

2400

4

4800

9

9600

19

19200

38

38400

57

57600

111

111100

115

115200

230

230400

256

256000

460

460800

500

500000

921

921600

1500

1500000

EFI_PORT: EFI Serial Port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 10

AIS_ Parameters

AIS_TYPE: AIS receiver type

Note: Reboot required after change

AIS receiver type

Values

Value

Meaning

0

None

1

NMEA AIVDM message

AIS_LIST_MAX: AIS vessel list size

Note: This parameter is for advanced users

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

Range

1 to 100

AIS_TIME_OUT: AIS vessel time out

Note: This parameter is for advanced users

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

Range

Units

1 to 2000

seconds

AIS_LOGGING: AIS logging options

Note: This parameter is for advanced users

Bitmask of AIS logging options

Bitmask

Bit

Meaning

0

Log all AIVDM messages

1

Log only unsupported AIVDM messages

2

Log decoded messages

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

ReadOnly

True

ARSP_USE: Airspeed use

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

Values

Value

Meaning

0

DoNotUse

1

Use

2

UseWhenZeroThrottle

ARSP_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment

0.1

ARSP_RATIO: Airspeed ratio

Note: This parameter is for advanced users

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

Increment

0.1

ARSP_PIN: Airspeed pin

Note: This parameter is for advanced users

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

ARSP_AUTOCAL: Automatic airspeed ratio calibration

Note: This parameter is for advanced users

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

ARSP_TUBE_ORDER: Control pitot tube order

Note: This parameter is for advanced users

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
Note: Reboot required after change

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

Values

Value

Meaning

0

Bus0

1

Bus1

2

Bus2

ARSP_PRIMARY: Primary airspeed sensor

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

FirstSensor

1

2ndSensor

ARSP_OPTIONS: Airspeed options bitmask

Note: This parameter is for advanced users

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

Bitmask

Bit

Meaning

0

SpeedMismatchDisable

1

AllowSpeedMismatchRecovery

2

DisableVoltageCorrection

3

UseEkf3Consistency

ARSP_WIND_MAX: Maximum airspeed and ground speed difference

Note: This parameter is for advanced users

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

Units

meters per second

ARSP_WIND_WARN: Airspeed and ground speed difference that gives a warning

Note: This parameter is for advanced users

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

Units

meters per second

ARSP_WIND_GATE: Re-enable Consistency Check Gate Size

Note: This parameter is for advanced users

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

Range

0.0 to 10.0

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_USE: Enable use of 2nd airspeed sensor

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

Values

Value

Meaning

0

Don’t Use

1

use

2

UseWhenZeroThrottle

ARSP2_OFFSET: Airspeed offset for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration offset

Increment

0.1

ARSP2_RATIO: Airspeed ratio for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment

0.1

ARSP2_PIN: Airspeed pin for 2nd airspeed sensor

Note: This parameter is for advanced users

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

ARSP2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor

Note: This parameter is for advanced users

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

ARSP2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the 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
Note: Reboot required after change

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

Values

Value

Meaning

0

Bus0

1

Bus1

2

Bus2

ARSP2_DEVID: Airspeed2 ID

Note: This parameter is for advanced users

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

ReadOnly

True

ARSPD Parameters

ARSPD_TYPE: Airspeed type

Type of airspeed sensor

Values

Value

Meaning

0

None

1

I2C-MS4525D0

2

Analog

3

I2C-MS5525

4

I2C-MS5525 (0x76)

5

I2C-MS5525 (0x77)

6

I2C-SDP3X

7

I2C-DLVR-5in

8

DroneCAN

9

I2C-DLVR-10in

10

I2C-DLVR-20in

11

I2C-DLVR-30in

12

I2C-DLVR-60in

13

NMEA water speed

14

MSP

15

ASP5033

100

SITL

ARSPD_DEVID: Airspeed ID

Note: This parameter is for advanced users

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

ReadOnly

True

ARSPD_USE: Airspeed use

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

Values

Value

Meaning

0

DoNotUse

1

Use

2

UseWhenZeroThrottle

ARSPD_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment

0.1

ARSPD_RATIO: Airspeed ratio

Note: This parameter is for advanced users

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

Increment

0.1

ARSPD_PIN: Airspeed pin

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. 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
Note: Reboot required after change

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

Values

Value

Meaning

0

Bus0

1

Bus1

2

Bus2

ARSPD_PRIMARY: Primary airspeed sensor

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

FirstSensor

1

2ndSensor

ARSPD_OPTIONS: Airspeed options bitmask

Note: This parameter is for advanced users

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

Bitmask

Bit

Meaning

0

SpeedMismatchDisable

1

AllowSpeedMismatchRecovery

2

DisableVoltageCorrection

3

UseEkf3Consistency

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference

Note: This parameter is for advanced users

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

Units

meters per second

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.

Units

meters per second

ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size

Note: This parameter is for advanced users

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

Range

0.0 to 10.0

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_USE: Enable use of 2nd airspeed sensor

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

Values

Value

Meaning

0

Don’t Use

1

use

2

UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration offset

Increment

0.1

ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment

0.1

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_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor

Note: This parameter is for advanced users

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

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
Note: Reboot required after change

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

Values

Value

Meaning

0

Bus0

1

Bus1

2

Bus2

ARSPD2_DEVID: Airspeed2 ID

Note: This parameter is for advanced users

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

ReadOnly

True

BARO Parameters

BARO1_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment

ReadOnly

Units

Volatile

1

True

pascal

True

BARO_GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Increment

Units

Volatile

1

degrees Celsius

True

BARO_ALT_OFFSET: altitude offset

Note: This parameter is for advanced users

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

Increment

Units

0.1

meters

BARO_PRIMARY: Primary barometer

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

FirstBaro

1

2ndBaro

2

3rdBaro

BARO_EXT_BUS: External baro bus

Note: This parameter is for advanced users

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

Values

Value

Meaning

-1

Disabled

0

Bus0

1

Bus1

6

Bus6

BARO2_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment

ReadOnly

Units

Volatile

1

True

pascal

True

BARO3_GND_PRESS: Absolute Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment

ReadOnly

Units

Volatile

1

True

pascal

True

BARO_FLTR_RNG: Range in which sample is accepted

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

Increment

Range

Units

1

0 to 100

percent

BARO_PROBE_EXT: External barometers to probe

Note: This parameter is for advanced users

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

Bitmask

Bit

Meaning

0

BMP085

1

BMP280

2

MS5611

3

MS5607

4

MS5637

5

FBM320

6

DPS280

7

LPS25H

8

Keller

9

MS5837

10

BMP388

11

SPL06

12

MSP

BARO1_DEVID: Baro ID

Note: This parameter is for advanced users

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

ReadOnly

True

BARO2_DEVID: Baro ID2

Note: This parameter is for advanced users

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

ReadOnly

True

BARO3_DEVID: Baro ID3

Note: This parameter is for advanced users

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

ReadOnly

True

BARO_FIELD_ELV: field elevation

Note: This parameter is for advanced users

User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means no correction for takeoff height above sea level is performed.

Increment

Units

Volatile

0.1

meters

True

BARO_ALTERR_MAX: Altitude error maximum

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 5000

meters

BARO_OPTIONS: Barometer options

Note: This parameter is for advanced users

Barometer options

Bitmask

Bit

Meaning

0

Treat MS5611 as MS5607

BARO1_WCF_ Parameters

BARO1_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value

Meaning

0

Disabled

1

Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BARO2_WCF_ Parameters

BARO2_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value

Meaning

0

Disabled

1

Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BARO3_WCF_ Parameters

BARO3_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value

Meaning

0

Disabled

1

Enabled

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

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

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT2_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT2_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT2_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT2_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT2_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT2_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT2_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT2_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT2_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT2_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT2_AMP_OFFSET: AMP offset

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

Units

volt

BATT2_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT2_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT2_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT2_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT2_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT2_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT2_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT2_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT2_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT2_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT3_ Parameters

BATT3_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT3_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT3_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT3_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT3_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT3_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT3_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT3_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT3_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT3_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT3_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT3_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT3_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT3_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT3_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT3_AMP_OFFSET: AMP offset

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

Units

volt

BATT3_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT3_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT3_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT3_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT3_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT3_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT3_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT3_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT3_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT3_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT4_ Parameters

BATT4_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT4_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT4_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT4_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT4_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT4_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT4_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT4_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT4_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT4_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT4_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT4_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT4_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT4_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT4_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT4_AMP_OFFSET: AMP offset

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

Units

volt

BATT4_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT4_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT4_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT4_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT4_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT4_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT4_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT4_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT4_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT4_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT5_ Parameters

BATT5_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT5_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT5_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT5_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT5_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT5_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT5_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT5_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT5_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT5_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT5_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT5_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT5_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT5_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT5_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT5_AMP_OFFSET: AMP offset

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

Units

volt

BATT5_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT5_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT5_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT5_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT5_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT5_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT5_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT5_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT5_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT5_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT6_ Parameters

BATT6_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT6_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT6_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT6_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT6_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT6_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT6_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT6_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT6_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT6_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT6_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT6_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT6_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT6_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT6_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT6_AMP_OFFSET: AMP offset

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

Units

volt

BATT6_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT6_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT6_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT6_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT6_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT6_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT6_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT6_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT6_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT6_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT7_ Parameters

BATT7_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT7_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT7_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT7_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT7_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT7_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT7_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT7_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT7_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT7_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT7_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT7_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT7_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT7_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT7_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT7_AMP_OFFSET: AMP offset

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

Units

volt

BATT7_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT7_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT7_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT7_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT7_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT7_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT7_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT7_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT7_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT7_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT8_ Parameters

BATT8_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT8_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT8_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT8_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT8_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT8_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT8_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT8_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT8_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT8_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT8_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT8_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT8_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT8_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT8_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT8_AMP_OFFSET: AMP offset

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

Units

volt

BATT8_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT8_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT8_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT8_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT8_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT8_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT8_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT8_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT8_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT8_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT9_ Parameters

BATT9_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT9_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT9_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT9_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT9_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT9_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT9_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT9_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT9_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT9_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT9_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT9_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT9_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT9_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT9_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT9_AMP_OFFSET: AMP offset

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

Units

volt

BATT9_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT9_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT9_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT9_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT9_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT9_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT9_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT9_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT9_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT9_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT_ Parameters

BATT_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

BATT_LOW_TIMER: Low voltage timeout

Note: This parameter is for advanced users

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

Increment

Range

Units

1

0 to 120

seconds

BATT_FS_VOLTSRC: Failsafe voltage source

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage

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

Increment

Units

0.1

volt

BATT_LOW_MAH: Low battery capacity

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

Increment

Units

50

milliampere hour

BATT_CRT_VOLT: Critical battery voltage

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

Increment

Units

0.1

volt

BATT_CRT_MAH: Battery critical capacity

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

Increment

Units

50

milliampere hour

BATT_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Increment

Units

0.1

volt

BATT_ARM_MAH: Required arming remaining capacity

Note: This parameter is for advanced users

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

Increment

Units

50

milliampere hour

BATT_OPTIONS: Battery monitor options

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

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

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt

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

Units

ampere per volt

BATT_AMP_OFFSET: AMP offset

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

Units

volt

BATT_VLT_OFFSET: Voltage offset

Note: This parameter is for advanced users

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

Units

volt

BATT_I2C_BUS: Battery monitor I2C bus number

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 to 3

BATT_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C address

Range

0 to 127

BATT_SUM_MASK: Battery Sum mask

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

Bitmask

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Range

.1 to 10

BATT_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

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

Range

Units

0.01 to 10

volt

BATT_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

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

Range

0.01 to 10

BATT_FL_FLTR: Fuel level filter frequency

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

-1 to 1

hertz

BATT_FL_PIN: Fuel level analog pin number

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

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

CAM_RC_ Parameters

CAM_RC_TYPE: RunCam device type

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

Values

Value

Meaning

0

Disabled

1

RunCam Split Micro/RunCam with UART

2

RunCam Split

3

RunCam Split4 4k

4

RunCam Hybrid/RunCam Thumb Pro

CAM_RC_FEATURES: RunCam features available

Note: This parameter is for advanced users

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

Bitmask

Bit

Meaning

0

Power Button

1

WiFi Button

2

Change Mode

3

5-Key OSD

4

Settings Access

5

DisplayPort

6

Start Recording

7

Stop Recording

CAM_RC_BT_DELAY: RunCam boot delay before allowing updates

Note: This parameter is for advanced users

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

CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses

Note: This parameter is for advanced users

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

CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses

Note: This parameter is for advanced users

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

CAM_RC_CONTROL: RunCam control option

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu

Bitmask

Bit

Meaning

0

Stick yaw right

1

Stick roll right

2

3-position switch

3

2-position switch

4

Autorecording enabled

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-400 to 400

milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-400 to 400

milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment

Range

Units

1

-400 to 400

milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Increment

Range

Units

0.01

-3.142 to 3.142

radians

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Disabled

1

Internal-Learning

2

EKF-Learning

3

InFlight-Learning

COMPASS_USE: Use compass for yaw

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_AUTODEC: Auto Declination

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_MOTCT: Motor interference compensation type

Note: This parameter is for advanced users

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

Calibration

Values

1

Value

Meaning

0

Disabled

1

Use Throttle

2

Use Current

COMPASS_MOT_X: Motor interference compensation for body frame X axis

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-1000 to 1000

milligauss per ampere

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-1000 to 1000

milligauss per ampere

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

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

Increment

Range

Units

1

-1000 to 1000

milligauss per ampere

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

None

1

Yaw45

2

Yaw90

3

Yaw135

4

Yaw180

5

Yaw225

6

Yaw270

7

Yaw315

8

Roll180

9

Yaw45Roll180

10

Yaw90Roll180

11

Yaw135Roll180

12

Pitch180

13

Yaw225Roll180

14

Yaw270Roll180

15

Yaw315Roll180

16

Roll90

17

Yaw45Roll90

18

Yaw90Roll90

19

Yaw135Roll90

20

Roll270

21

Yaw45Roll270

22

Yaw90Roll270

23

Yaw135Roll270

24

Pitch90

25

Pitch270

26

Yaw90Pitch180

27

Yaw270Pitch180

28

Pitch90Roll90

29

Pitch90Roll180

30

Pitch90Roll270

31

Pitch180Roll90

32

Pitch180Roll270

33

Pitch270Roll90

34

Pitch270Roll180

35

Pitch270Roll270

36

Yaw90Pitch180Roll90

37

Yaw270Roll90

38

Yaw293Pitch68Roll180

39

Pitch315

40

Pitch315Roll90

42

Roll45

43

Roll315

100

Custom 4.1 and older

101

Custom 1

102

Custom 2

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Internal

1

External

2

ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-400 to 400

milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-400 to 400

milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment

Range

Units

1

-400 to 400

milligauss

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

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-1000 to 1000

milligauss per ampere

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

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-1000 to 1000

milligauss per ampere

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

Note: This parameter is for advanced users

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

Increment

Range

Units

1

-1000 to 1000

milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-400 to 400

milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-400 to 400

milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

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

Increment

Range

Units

1

-400 to 400

milligauss

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

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-1000 to 1000

milligauss per ampere

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

Note: This parameter is for advanced users

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

Calibration

Increment

Range

Units

1

1

-1000 to 1000

milligauss per ampere

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

Note: This parameter is for advanced users

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

Increment

Range

Units

1

-1000 to 1000

milligauss per ampere

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

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

ReadOnly

True

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

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

ReadOnly

True

COMPASS_USE2: Compass2 used for yaw

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_ORIENT2: Compass2 orientation

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

None

1

Yaw45

2

Yaw90

3

Yaw135

4

Yaw180

5

Yaw225

6

Yaw270

7

Yaw315

8

Roll180

9

Yaw45Roll180

10

Yaw90Roll180

11

Yaw135Roll180

12

Pitch180

13

Yaw225Roll180

14

Yaw270Roll180

15

Yaw315Roll180

16

Roll90

17

Yaw45Roll90

18

Yaw90Roll90

19

Yaw135Roll90

20

Roll270

21

Yaw45Roll270

22

Yaw90Roll270

23

Yaw135Roll270

24

Pitch90

25

Pitch270

26

Yaw90Pitch180

27

Yaw270Pitch180

28

Pitch90Roll90

29

Pitch90Roll180

30

Pitch90Roll270

31

Pitch180Roll90

32

Pitch180Roll270

33

Pitch270Roll90

34

Pitch270Roll180

35

Pitch270Roll270

36

Yaw90Pitch180Roll90

37

Yaw270Roll90

38

Yaw293Pitch68Roll180

39

Pitch315

40

Pitch315Roll90

42

Roll45

43

Roll315

100

Custom 4.1 and older

101

Custom 1

102

Custom 2

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Internal

1

External

2

ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

None

1

Yaw45

2

Yaw90

3

Yaw135

4

Yaw180

5

Yaw225

6

Yaw270

7

Yaw315

8

Roll180

9

Yaw45Roll180

10

Yaw90Roll180

11

Yaw135Roll180

12

Pitch180

13

Yaw225Roll180

14

Yaw270Roll180

15

Yaw315Roll180

16

Roll90

17

Yaw45Roll90

18

Yaw90Roll90

19

Yaw135Roll90

20

Roll270

21

Yaw45Roll270

22

Yaw90Roll270

23

Yaw135Roll270

24

Pitch90

25

Pitch270

26

Yaw90Pitch180

27

Yaw270Pitch180

28

Pitch90Roll90

29

Pitch90Roll180

30

Pitch90Roll270

31

Pitch180Roll90

32

Pitch180Roll270

33

Pitch270Roll90

34

Pitch270Roll180

35

Pitch270Roll270

36

Yaw90Pitch180Roll90

37

Yaw270Roll90

38

Yaw293Pitch68Roll180

39

Pitch315

40

Pitch315Roll90

42

Roll45

43

Roll315

100

Custom 4.1 and older

101

Custom 1

102

Custom 2

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Internal

1

External

2

ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

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

Calibration

1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

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

Increment

Range

Values

0.1

4 to 32

Value

Meaning

4

Very Strict

8

Strict

16

Default

32

Relaxed

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

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

Increment

Range

1

500 to 3000

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

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

Bitmask

Bit

Meaning

0

HMC5883

1

LSM303D

2

AK8963

3

BMM150

4

LSM9DS1

5

LIS3MDL

6

AK09916

7

IST8310

8

ICM20948

9

MMC3416

11

DroneCAN

12

QMC5883

14

MAG3110

15

IST8308

16

RM3100

17

MSP

18

ExternalAHRS

COMPASS_FLTR_RNG: Range in which sample is accepted

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

Increment

Range

Units

1

0 to 100

percent

COMPASS_AUTO_ROT: Automatically check orientation

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

Values

Value

Meaning

0

Disabled

1

CheckOnly

2

CheckAndFix

3

use same tolerance to auto rotate 45 deg rotations

COMPASS_PRIO1_ID: Compass device id with 1st order priority

Note: This parameter is for advanced users
Note: Reboot required after change

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

COMPASS_PRIO2_ID: Compass device id with 2nd order priority

Note: This parameter is for advanced users
Note: Reboot required after change

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

COMPASS_PRIO3_ID: Compass device id with 3rd order priority

Note: This parameter is for advanced users
Note: Reboot required after change

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

COMPASS_ENABLE: Enable Compass

Note: Reboot required after change

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

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_SCALE: Compass1 scale factor

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

Range

0 to 1.3

COMPASS_SCALE2: Compass2 scale factor

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

Range

0 to 1.3

COMPASS_SCALE3: Compass3 scale factor

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

Range

0 to 1.3

COMPASS_OPTIONS: Compass options

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask

Bit

Meaning

0

CalRequireGPS

COMPASS_DEV_ID4: Compass4 device id

Note: This parameter is for advanced users

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

ReadOnly

True

COMPASS_DEV_ID5: Compass5 device id

Note: This parameter is for advanced users

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

ReadOnly

True

COMPASS_DEV_ID6: Compass6 device id

Note: This parameter is for advanced users

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

ReadOnly

True

COMPASS_DEV_ID7: Compass7 device id

Note: This parameter is for advanced users

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

ReadOnly

True

COMPASS_DEV_ID8: Compass8 device id

Note: This parameter is for advanced users

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

ReadOnly

True

COMPASS_CUS_ROLL: Custom orientation roll offset

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

Units

1

-180 to 180

degrees

COMPASS_CUS_PIT: Custom orientation pitch offset

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

Units

1

-180 to 180

degrees

COMPASS_CUS_YAW: Custom orientation yaw offset

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

Units

1

-180 to 180

degrees

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

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

Increment

Range

0.01

0 to 2

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

CUST_ROT Parameters

CUST_ROT_ENABLE: Enable Custom rotations

Note: Reboot required after change

This enables custom rotations

Values

Value

Meaning

0

Disable

1

Enable

CUST_ROT1_ Parameters

CUST_ROT1_ROLL: Custom roll

Note: Reboot required after change

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

Units

degrees

CUST_ROT1_PITCH: Custom pitch

Note: Reboot required after change

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

Units

degrees

CUST_ROT1_YAW: Custom yaw

Note: Reboot required after change

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

Units

degrees

CUST_ROT2_ Parameters

CUST_ROT2_ROLL: Custom roll

Note: Reboot required after change

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

Units

degrees

CUST_ROT2_PITCH: Custom pitch

Note: Reboot required after change

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

Units

degrees

CUST_ROT2_YAW: Custom yaw

Note: Reboot required after change

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

Units

degrees

DID_ Parameters

DID_ENABLE: Enable ODID subsystem

Enable ODID subsystem

Values

Value

Meaning

0

Disabled

1

Enabled

DID_CANDRIVER: DroneCAN driver number

DroneCAN driver index, 0 to disable DroneCAN

Values

Value

Meaning

0

Disabled

1

Driver1

2

Driver2

DID_OPTIONS: OpenDroneID options

Options for OpenDroneID subsystem. Bit 0 means to enforce arming checks

Bitmask

Bit

Meaning

0

EnforceArming

DID_BARO_ACC: Barometer vertical accuraacy

Note: This parameter is for advanced users

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

Units

meters

EAHRS Parameters

EAHRS_TYPE: AHRS type

Type of AHRS device

Values

Value

Meaning

0

None

1

VectorNav

2

LORD

EAHRS_RATE: AHRS data rate

Requested rate for AHRS device

Units

hertz

EFI Parameters

EFI_TYPE: EFI communication type

Note: This parameter is for advanced users
Note: Reboot required after change

What method of communication is used for EFI #1

Values

Value

Meaning

0

None

1

Serial-MS

2

NWPMU

3

Serial-Lutan

5

DroneCAN

6

Currawong-ECU

7

Scripting

EFI_COEF1: EFI Calibration Coefficient 1

Note: This parameter is for advanced users

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

Range

0 to 1

EFI_COEF2: EFI Calibration Coefficient 2

Note: This parameter is for advanced users

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

Range

0 to 10

EFI_FUEL_DENS: ECU Fuel Density

Note: This parameter is for advanced users

Used to calculate fuel consumption

Range

Units

0 to 10000

kilograms per cubic meter

ESC_TLM Parameters

FENCE_ Parameters

FENCE_ENABLE: Fence enable/disable

Allows you to enable (1) or disable (0) the fence functionality

Values

Value

Meaning

0

Disabled

1

Enabled

FENCE_ACTION: Fence Action

What action should be taken when fence is breached

Values

Value

Meaning

0

Report Only

1

RTL or Land

FENCE_RADIUS: Circular Fence Radius

Circle fence radius which when breached will cause an RTL

Range

Units

30 to 10000

meters

FENCE_MARGIN: Fence Margin

Distance that autopilot's should maintain from the fence to avoid a breach

Range

Units

1 to 10

meters

FENCE_TOTAL: Fence polygon point total

Number of polygon points saved in eeprom (do not update manually)

Range

1 to 20

FFT_ Parameters

FFT_ENABLE: Enable

Note: This parameter is for advanced users
Note: Reboot required after change

Enable Gyro FFT analyser

Values

Value

Meaning

0

Disabled

1

Enabled

FFT_MINHZ: Minimum Frequency

Note: This parameter is for advanced users

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

Range

Units

20 to 400

hertz

FFT_MAXHZ: Maximum Frequency

Note: This parameter is for advanced users

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

Range

Units

20 to 495

hertz

FFT_SAMPLE_MODE: Sample Mode

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

0 to 4

FFT_WINDOW_SIZE: FFT window size

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

32 to 1024

FFT_WINDOW_OLAP: FFT window overlap

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

0 to 0.9

FFT_FREQ_HOVER: FFT learned hover frequency

Note: This parameter is for advanced users

The learned hover noise frequency

Range

0 to 250

FFT_THR_REF: FFT learned thrust reference

Note: This parameter is for advanced users

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

Range

0.01 to 0.9

FFT_SNR_REF: FFT SNR reference threshold

Note: This parameter is for advanced users

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

Range

0.0 to 100.0

FFT_ATT_REF: FFT attenuation for bandwidth calculation

Note: This parameter is for advanced users

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

Range

0 to 100

FFT_BW_HOVER: FFT learned bandwidth at hover

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

Range

0 to 200

FFT_HMNC_FIT: FFT harmonic fit frequency threshold

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

0 to 100

FFT_HMNC_PEAK: FFT harmonic peak target

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Auto

1

Center Frequency

2

Lower-Shoulder Frequency

3

Upper-Shoulder Frequency

4

Roll-Axis

5

Pitch-Axis

FFT_NUM_FRAMES: FFT output frames to retain and average

Note: This parameter is for advanced users
Note: Reboot required after change

Number of output frequency frames to retain and average in order to calculate final frequencies. Averaging output frames can drastically reduce noise and jitter at the cost of latency as long as the input is stable. The default is to perform no averaging. For rapidly changing frequencies (e.g. smaller aircraft) fewer frames should be averaged.

Range

0 to 8

FRSKY_ Parameters

FRSKY_OPTIONS: FRSky Telemetry Options

A bitmask to set some FRSky Telemetry specific options

Bitmask

Bit

Meaning

0

EnableAirspeedAndGroundspeed

GEN_ Parameters

GEN_TYPE: Generator type

Note: Reboot required after change

Generator type

Values

Value

Meaning

0

Disabled

1

IE 650w 800w Fuel Cell

2

IE 2.4kW Fuel Cell

3

Richenpower

GEN_OPTIONS: Generator Options

Bitmask of options for generators

Bitmask

Bit

Meaning

0

Supress Maintenance-Required Warnings

GPS Parameters

GPS_TYPE: 1st GPS type

Note: This parameter is for advanced users
Note: Reboot required after change

GPS type of 1st GPS

Values

Value

Meaning

0

None

1

AUTO

2

uBlox

5

NMEA

6

SiRF

7

HIL

8

SwiftNav

9

DroneCAN

10

SBF

11

GSOF

13

ERB

14

MAV

15

NOVA

16

HemisphereNMEA

17

uBlox-MovingBaseline-Base

18

uBlox-MovingBaseline-Rover

19

MSP

20

AllyStar

21

ExternalAHRS

22

DroneCAN-MovingBaseline-Base

23

DroneCAN-MovingBaseline-Rover

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 to 90

degrees

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

None (0x0000)

-1

All (0xFFFF)

-256

External only (0xFF00)

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values

Value

Meaning

0

Ignore

1

Always log

2

Stop logging when disarmed (SBF only)

5

Only log every five samples (uBlox only)

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

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

Bitmask

Bit

Meaning

0

GPS

1

SBAS

2

Galileo

3

Beidou

4

IMES

5

QZSS

6

GLONASS

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Do not save config

1

Save config

2

Save only when needed

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

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

Bitmask

Bit

Meaning

0

GPS

1

SBAS

2

Galileo

3

Beidou

4

IMES

5

QZSS

6

GLONASS

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Disables automatic configuration

1

Enable automatic configuration for Serial GPSes only

2

Enable automatic configuration for DroneCAN as well

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

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

Range

Units

Values

50 to 200

milliseconds

Value

Meaning

100

10Hz

125

8Hz

200

5Hz

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

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

Range

Units

Values

50 to 200

milliseconds

Value

Meaning

100

10Hz

125

8Hz

200

5Hz

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

0 to 250

milliseconds

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

Units

0 to 250

milliseconds

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

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

Bitmask

Bit

Meaning

0

Horiz Pos

1

Vert Pos

2

Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

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

Range

Units

5.0 to 30.0

seconds

GPS_DRV_OPTIONS: driver options

Note: This parameter is for advanced users

Additional backend specific options

Bitmask

Bit

Meaning

0

Use UART2 for moving baseline on ublox

1

Use base station for GPS yaw on SBF

2

Use baudrate 115200

3

Use dedicated CAN port b/w GPSes for moving baseline

4

Use ellipsoid height instead of AMSL for uBlox driver

GPS_COM_PORT: GPS physical COM port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 10

GPS_COM_PORT2: GPS physical COM port

Note: This parameter is for advanced users
Note: Reboot required after change

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

Increment

Range

1

0 to 10

GPS_PRIMARY: Primary GPS

Note: This parameter is for advanced users

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

Increment

Values

1

Value

Meaning

0

FirstGPS

1

SecondGPS

GPS_CAN_NODEID1: GPS Node ID 1

Note: This parameter is for advanced users

GPS Node id for first-discovered GPS.

ReadOnly

True

GPS_CAN_NODEID2: GPS Node ID 2

Note: This parameter is for advanced users

GPS Node id for second-discovered GPS.

ReadOnly

True

GPS1_CAN_OVRIDE: First DroneCAN GPS NODE ID

Note: This parameter is for advanced users

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

GPS2_CAN_OVRIDE: Second DroneCAN GPS NODE ID

Note: This parameter is for advanced users

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

GPS_MB1_ Parameters

GPS_MB1_TYPE: Moving base type

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values

Value

Meaning

0

Relative to alternate GPS instance

1

RelativeToCustomBase

GPS_MB1_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_MB1_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_MB1_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_MB2_ Parameters

GPS_MB2_TYPE: Moving base type

Note: This parameter is for advanced users
Note: Reboot required after change

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

Values

Value

Meaning

0

Relative to alternate GPS instance

1

RelativeToCustomBase

GPS_MB2_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_MB2_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

GPS_MB2_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

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

Increment

Range

Units

0.01

-5 to 5

meters

LOG Parameters

LOG_BACKEND_TYPE: AP_Logger Backend Storage type

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

Bitmask

Bit

Meaning

0

File

1

MAVLink

2

Block

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

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

LOG_DISARMED: Enable logging while disarmed

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

Values

Value

Meaning

0

Disabled

1

Enabled

LOG_REPLAY: Enable logging of information needed for Replay

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

Values

Value

Meaning

0

Disabled

1

Enabled

LOG_FILE_DSRMROT: Stop logging to current file on disarm

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

Values

Value

Meaning

0

Disabled

1

Enabled

LOG_FILE_TIMEOUT: Timeout before giving up on file writes

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

Units

seconds

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

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

Range

Units

10 to 1000

megabyte

LOG_FILE_RATEMAX: Maximum logging rate for file backend

This sets the maximum rate that streaming log messages will be logged to the file backend. A value of zero means that rate limiting is disabled.

Increment

Range

Units

0.1

0 to 1000

hertz

LOG_BLK_RATEMAX: Maximum logging rate for block backend

This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.

Increment

Range

Units

0.1

0 to 1000

hertz

MSP Parameters

MSP_OSD_NCELLS: Cell count override

Used for average cell voltage calculation

Values

Value

Meaning

0

Auto

1

1

2

2

3

3

4

4

5

5

6

6

7

7

8

8

9

9

10

10

11

11

12

12

13

13

14

14

MSP_OPTIONS: MSP OSD Options

A bitmask to set some MSP specific options

Bitmask

Bit

Meaning

0

EnableTelemetryMode

1

DisableDJIWorkarounds

2

EnableBTFLFonts

NTF_ Parameters

NTF_LED_BRIGHT: LED Brightness

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Off

1

Low

2

Medium

3

High

NTF_BUZZ_TYPES: Buzzer Driver Types

Note: This parameter is for advanced users

Controls what types of Buzzer will be enabled

Bitmask

Bit

Meaning

0

Built-in buzzer

1

DShot

2

DroneCAN

NTF_LED_OVERRIDE: Specifies colour source for the RGBLed

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Standard

1

MAVLink/Scripting/AP_Periph

2

OutbackChallenge

3

TrafficLight

NTF_DISPLAY_TYPE: Type of on-board I2C display

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Disable

1

ssd1306

2

sh1106

10

SITL

NTF_OREO_THEME: OreoLED Theme

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

Disabled

1

Aircraft

2

Rover

NTF_BUZZ_PIN: Buzzer pin

Note: This parameter is for advanced users

Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

Values

Value

Meaning

-1

Disabled

NTF_LED_TYPES: LED Driver Types

Note: This parameter is for advanced users

Controls what types of LEDs will be enabled

Bitmask

Bit

Meaning

0

Built-in LED

1

Internal ToshibaLED

2

External ToshibaLED

3

External PCA9685

4

Oreo LED

5

DroneCAN

6

NCP5623 External

7

NCP5623 Internal

8

NeoPixel

9

ProfiLED

10

Scripting

11

DShot

12

ProfiLED_SPI

NTF_BUZZ_ON_LVL: Buzzer-on pin logic level

Note: This parameter is for advanced users

Specifies pin level that indicates buzzer should play

Values

Value

Meaning

0

LowIsOn

1

HighIsOn

NTF_BUZZ_VOLUME: Buzzer volume

Control the volume of the buzzer

Range

Units

0 to 100

percent

NTF_LED_LEN: Serial LED String Length

Note: This parameter is for advanced users
Note: Reboot required after change

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

Range

1 to 32

Node Parameters

Node_BOOTCNT: Boot Count

Number of times board has been booted

ReadOnly

True

Node_FLTTIME: Total FlightTime

Total FlightTime (seconds)

ReadOnly

Units

True

seconds

Node_RUNTIME: Total RunTime

Total time autopilot has run

ReadOnly

Units

True

seconds

Node_RESET: Statistics Reset Time

Seconds since January 1st 2016 (Unix epoch+1451606400) since statistics reset (set to 0 to reset statistics)

ReadOnly

Units

True

seconds

OUT Parameters

OUT_RATE: Servo default output rate

Note: This parameter is for advanced users

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

Range

Units

25 to 400

hertz

OUT_DSHOT_RATE: Servo DShot output rate

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

1Khz

1

loop-rate

2

double loop-rate

3

triple loop-rate

4

quadruple loop rate

OUT_DSHOT_ESC: Servo DShot ESC type

Note: This parameter is for advanced users

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

Values

Value

Meaning

0

None

1

BLHeli32/Kiss

2

BLHeli_S

OUT_GPIO_MASK: Servo GPIO mask

Note: This parameter is for advanced users
Note: Reboot required after change

This sets a bitmask of outputs which will be available as GPIOs. Any output with either the function set to -1 or with the corresponding bit set in this mask will be available for use as a GPIO pin

Bitmask

Bit

Meaning

0

Servo 1

1

Servo 2

2

Servo 3

3

Servo 4

4

Servo 5

5

Servo 6

6

Servo 7

7

Servo 8

8

Servo 9

9

Servo 10

10

Servo 11

11

Servo 12

12

Servo 13

13

Servo 14

14

Servo 15

15

Servo 16

16

Servo 17

17

Servo 18

18

Servo 19

19

Servo 20

20

Servo 21

21

Servo 22

22

Servo 23

23

Servo 24

24

Servo 25

25

Servo 26

26

Servo 27

27

Servo 28

28

Servo 29

29

Servo 30

30

Servo 31

31

Servo 32

OUT_32_ENABLE: Enable outputs 17 to 31

Note: This parameter is for advanced users

This allows for up to 32 outputs, enabling parameters for outputs above 16

Values

Value

Meaning

0

Disabled

1

Enabled

OUT10_ Parameters

OUT10_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT10_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT10_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT10_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT10_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT11_ Parameters

OUT11_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT11_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT11_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT11_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT11_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT12_ Parameters

OUT12_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT12_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT12_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT12_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT12_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT13_ Parameters

OUT13_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT13_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT13_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT13_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT13_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT14_ Parameters

OUT14_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT14_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT14_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT14_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT14_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT15_ Parameters

OUT15_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT15_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT15_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT15_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT15_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT16_ Parameters

OUT16_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT16_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT16_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT16_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT16_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT17_ Parameters

OUT17_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT17_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT17_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT17_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT17_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT18_ Parameters

OUT18_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT18_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT18_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT18_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT18_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT19_ Parameters

OUT19_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT19_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT19_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT19_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT19_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT1_ Parameters

OUT1_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT1_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT1_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT1_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT1_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT20_ Parameters

OUT20_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT20_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT20_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT20_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT20_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT21_ Parameters

OUT21_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT21_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT21_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT21_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT21_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT22_ Parameters

OUT22_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT22_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT22_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT22_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT22_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT23_ Parameters

OUT23_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT23_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT23_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT23_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT23_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT24_ Parameters

OUT24_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT24_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT24_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT24_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT24_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT25_ Parameters

OUT25_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT25_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT25_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT25_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT25_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT26_ Parameters

OUT26_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT26_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT26_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT26_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT26_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT27_ Parameters

OUT27_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT27_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT27_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT27_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT27_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT28_ Parameters

OUT28_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT28_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT28_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT28_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT28_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT29_ Parameters

OUT29_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT29_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT29_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT29_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT29_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT2_ Parameters

OUT2_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT2_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT2_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT2_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT2_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT30_ Parameters

OUT30_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT30_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT30_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT30_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT30_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT31_ Parameters

OUT31_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT31_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT31_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT31_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT31_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT32_ Parameters

OUT32_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT32_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT32_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT32_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT32_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT3_ Parameters

OUT3_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT3_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT3_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT3_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT3_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT4_ Parameters

OUT4_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT4_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT4_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT4_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT4_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT5_ Parameters

OUT5_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT5_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT5_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT5_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT5_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT6_ Parameters

OUT6_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT6_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT6_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT6_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT6_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed

94

Script1

95

Script2

96

Script3

97

Script4

98

Script5

99

Script6

100

Script7

101

Script8

102

Script9

103

Script10

104

Script11

105

Script12

106

Script13

107

Script14

108

Script15

109

Script16

120

NeoPixel1

121

NeoPixel2

122

NeoPixel3

123

NeoPixel4

124

RateRoll

125

RatePitch

126

RateThrust

127

RateYaw

128

WingSailElevator

129

ProfiLED1

130

ProfiLED2

131

ProfiLED3

132

ProfiLEDClock

133

Winch Clutch

134

SERVOn_MIN

135

SERVOn_TRIM

136

SERVOn_MAX

137

SailMastRotation

138

Alarm

139

Alarm Inverted

140

RCIN1Scaled

141

RCIN2Scaled

142

RCIN3Scaled

143

RCIN4Scaled

144

RCIN5Scaled

145

RCIN6Scaled

146

RCIN7Scaled

147

RCIN8Scaled

148

RCIN9Scaled

149

RCIN10Scaled

150

RCIN11Scaled

151

RCIN12Scaled

152

RCIN13Scaled

153

RCIN14Scaled

154

RCIN15Scaled

155

RCIN16Scaled

OUT7_ Parameters

OUT7_MIN: Minimum PWM

minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT7_MAX: Maximum PWM

maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT7_TRIM: Trim PWM

Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.

Increment

Range

Units

1

800 to 2200

PWM in microseconds

OUT7_REVERSED: Servo reverse

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

Values

Value

Meaning

0

Normal

1

Reversed

OUT7_FUNCTION: Servo output function

Note: Reboot required after change

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

Values

Value

Meaning

-1

GPIO

0

Disabled

1

RCPassThru

2

Flap

3

FlapAuto

4

Aileron

6

Mount1Yaw

7

Mount1Pitch

8

Mount1Roll

9

Mount1Retract

10

CameraTrigger

12

Mount2Yaw

13

Mount2Pitch

14

Mount2Roll

15

Mount2Retract

16

DifferentialSpoilerLeft1

17

DifferentialSpoilerRight1

19

Elevator

21

Rudder

22

SprayerPump

23

SprayerSpinner

24

FlaperonLeft

25

FlaperonRight

26

GroundSteering

27

Parachute

28

Gripper

29

LandingGear

30

EngineRunEnable

31

HeliRSC

32

HeliTailRSC

33

Motor1

34

Motor2

35

Motor3

36

Motor4

37

Motor5

38

Motor6

39

Motor7

40

Motor8

41

TiltMotorsFront

45

TiltMotorsRear

46

TiltMotorRearLeft

47

TiltMotorRearRight

51

RCIN1

52

RCIN2

53

RCIN3

54

RCIN4

55

RCIN5

56

RCIN6

57

RCIN7

58

RCIN8

59

RCIN9

60

RCIN10

61

RCIN11

62

RCIN12

63

RCIN13

64

RCIN14

65

RCIN15

66

RCIN16

67

Ignition

69

Starter

70

Throttle

71

TrackerYaw

72

TrackerPitch

73

ThrottleLeft

74

ThrottleRight

75

TiltMotorFrontLeft

76

TiltMotorFrontRight

77

ElevonLeft

78

ElevonRight

79

VTailLeft

80

VTailRight

81

BoostThrottle

82

Motor9

83

Motor10

84

Motor11

85

Motor12

86

DifferentialSpoilerLeft2

87

DifferentialSpoilerRight2

88

Winch

89

Main Sail

90

CameraISO

91

CameraAperture

92

CameraFocus

93

CameraShutterSpeed