Complete Parameter List¶
This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.
This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.
AP_Periph Parameters¶
FORMAT_VERSION: Eeprom format version number¶
This value is incremented when changes are made to the eeprom format
CAN_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly or 0 for dynamic node allocation
Range |
|---|
0 to 250 |
CAN_BAUDRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN_SLCAN_CPORT: SLCAN Route¶
CAN Interface ID to be routed to SLCAN, 0 means no routing
Values |
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|---|---|---|---|---|---|---|---|---|
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CAN_PROTOCOL: Enable use of specific protocol to be used on this port¶
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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CAN2_BAUDRATE: Bitrate of CAN2 interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN2_PROTOCOL: Enable use of specific protocol to be used on this port¶
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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CAN3_BAUDRATE: Bitrate of CAN3 interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
|---|
10000 to 1000000 |
CAN3_PROTOCOL: Enable use of specific protocol to be used on this port¶
Enabling this option starts selected protocol that will use this virtual driver. At least one CAN port must be UAVCAN or else CAN1 gets set to UAVCAN
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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CAN_FDMODE: Enable CANFD mode¶
Enabling this option sets the CAN bus to be in CANFD mode with BRS.
Values |
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|---|---|---|---|---|---|---|
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CAN_FDBAUDRATE: Set up bitrate for data section on CAN1¶
This sets the bitrate for the data section of CAN1.
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN2_FDBAUDRATE: Set up bitrate for data section on CAN2¶
This sets the bitrate for the data section of CAN2.
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FLASH_BOOTLOADER: Trigger bootloader update¶
DANGER! When enabled, the App will perform a bootloader update by copying the embedded bootloader over the existing bootloader. This may take a few seconds to perform and should only be done if you know what you're doing.
Range |
|---|
0 to 1 |
DEBUG: Debug¶
Debug
Bitmask |
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|---|---|---|---|---|---|---|---|---|
|
BRD_SERIAL_NUM: Serial number of device¶
Non-zero positive values will be shown on the CAN App Name string
Range |
|---|
0 to 2147483648 |
BUZZER_VOLUME: Buzzer volume¶
Control the volume of the buzzer
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
GPS_PORT: GPS Serial Port¶
This is the serial port number where SERIALx_PROTOCOL will be set to GPS.
Increment |
Range |
|---|---|
1 |
0 to 10 |
MB_CAN_PORT: Moving Baseline CAN Port option¶
Autoselect dedicated CAN port on which moving baseline data will be transmitted.
Values |
||||||
|---|---|---|---|---|---|---|
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LED_BRIGHTNESS: LED Brightness¶
Select the RGB LED brightness level.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
RNGFND_BAUDRATE: Rangefinder serial baudrate¶
Rangefinder serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
RNGFND_PORT: Rangefinder Serial Port¶
This is the serial port number where SERIALx_PROTOCOL will be set to Rangefinder.
Increment |
Range |
|---|---|
1 |
0 to 10 |
RNGFND_MAX_RATE: Rangefinder max rate¶
This is the maximum rate we send rangefinder data in Hz. Zero means no limit
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 200 |
hertz |
ADSB_BAUDRATE: ADSB serial baudrate¶
ADSB serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
ADSB_PORT: ADSB Serial Port¶
This is the serial port number where SERIALx_PROTOCOL will be set to ADSB.
Increment |
Range |
|---|---|
1 |
0 to 10 |
HARDPOINT_RATE: Hardpoint PWM rate¶
Hardpoint PWM rate
Increment |
Range |
Units |
|---|---|---|
1 |
10 to 100 |
hertz |
ESC_NUMBER: ESC number¶
This is the ESC number to report as in UAVCAN ESC telemetry feedback packets.
Increment |
|---|
1 |
ESC_PWM_TYPE: Output PWM type¶
This selects the output PWM type, allowing for normal PWM continuous output, OneShot, brushed or DShot motor output
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ESC_CMD_TIMO: ESC Command Timeout¶
This is the duration (ms) with which to hold the last driven ESC command before timing out and zeroing the ESC outputs. To disable zeroing of outputs in event of CAN loss, use 0. Use values greater than the expected duration between two CAN frames to ensure Periph is not starved of ESC Raw Commands.
Range |
Units |
|---|---|
0 to 10000 |
milliseconds |
ESC_TELEM_PORT: ESC Telemetry Serial Port¶
This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry
Increment |
Range |
|---|---|
1 |
0 to 10 |
ESC_TELEM_RATE: ESC Telemetry update rate¶
This is the rate at which ESC Telemetry will be sent across the CAN bus
Increment |
Range |
|---|---|
1 |
0 to 1000 |
MSP_PORT: MSP Serial Port¶
This is the serial port number where SERIALx_PROTOCOL will be set to MSP
Increment |
Range |
|---|---|
1 |
0 to 10 |
SYSID_THISMAV: MAVLink system ID of this vehicle¶
Allows setting an individual system id for this vehicle to distinguish it from others on the same network
Range |
|---|
1 to 255 |
EFI_BAUDRATE: EFI serial baudrate¶
EFI serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
EFI_PORT: EFI Serial Port¶
This is the serial port number where SERIALx_PROTOCOL will be set to EFI.
Increment |
Range |
|---|---|
1 |
0 to 10 |
PRX_BAUDRATE: Proximity Sensor serial baudrate¶
Proximity Sensor serial baudrate.
Increment |
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
|
PRX_PORT: Proximity Sensor Serial Port¶
This is the serial port number where SERIALx_PROTOCOL will be set to Proximity Sensor.
Increment |
Range |
|---|---|
1 |
0 to 10 |
PRX_MAX_RATE: Proximity Sensor max rate¶
This is the maximum rate we send Proximity Sensor data in Hz. Zero means no limit
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 200 |
hertz |
AIS_ Parameters¶
AIS_TYPE: AIS receiver type¶
AIS receiver type
Values |
||||||
|---|---|---|---|---|---|---|
|
AIS_LIST_MAX: AIS vessel list size¶
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¶
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¶
Bitmask of AIS logging options
Bitmask |
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|---|---|---|---|---|---|---|---|---|
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ARSPD Parameters¶
ARSPD_ENABLE: Airspeed Enable¶
Enable airspeed sensor support
Values |
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|---|---|---|---|---|---|---|
|
ARSPD_TUBE_ORDER: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
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|---|---|---|---|---|---|---|---|---|
|
ARSPD_PRIMARY: Primary airspeed sensor¶
This selects which airspeed sensor will be the primary if multiple sensors are found
Values |
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|---|---|---|---|---|---|---|
|
ARSPD_OPTIONS: Airspeed options bitmask¶
Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction, 3:Check that the airspeed is statistically consistent with the navigation EKF vehicle and wind velocity estimates using EKF3 (requires AHRS_EKF_TYPE = 3)
Bitmask |
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|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_WIND_MAX: Maximum airspeed and ground speed difference¶
If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_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¶
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¶
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 |
ARSPD_OFF_PCNT: Maximum offset cal speed error¶
The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibraions before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.
Range |
Units |
|---|---|
0.0 to 10.0 |
percent |
ARSPD2_ Parameters¶
ARSPD2_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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ARSPD2_USE: Airspeed use¶
Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).
Values |
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|---|---|---|---|---|---|---|---|---|
|
ARSPD2_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
|---|
0.1 |
ARSPD2_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
|---|
0.1 |
ARSPD2_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.
ARSPD2_AUTOCAL: Automatic airspeed ratio calibration¶
Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD2_TUBE_ORDR: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
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|---|---|---|---|---|---|---|---|---|
|
ARSPD2_SKIP_CAL: Skip airspeed offset calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. 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 |
||||||
|---|---|---|---|---|---|---|
|
ARSPD2_PSI_RANGE: The PSI range of the device¶
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD2_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.
Values |
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|---|---|---|---|---|---|---|---|---|
|
ARSPD2_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
ARSPD_ Parameters¶
ARSPD_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
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|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_USE: Airspeed use¶
Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
|---|
0.1 |
ARSPD_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
|---|
0.1 |
ARSPD_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.
ARSPD_AUTOCAL: Automatic airspeed ratio calibration¶
Enables automatic adjustment of airspeed ratio during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD_TUBE_ORDR: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_SKIP_CAL: Skip airspeed offset calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
|---|---|---|---|---|---|---|
|
ARSPD_PSI_RANGE: The PSI range of the device¶
This parameter allows you to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
ARSPD_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO Parameters¶
BARO1_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO_GND_TEMP: ground temperature¶
User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.
Increment |
Units |
Volatile |
|---|---|---|
1 |
degrees Celsius |
True |
BARO_ALT_OFFSET: altitude offset¶
altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
Increment |
Units |
|---|---|
0.1 |
meters |
BARO_PRIMARY: Primary barometer¶
This selects which barometer will be the primary if multiple barometers are found
Values |
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|---|---|---|---|---|---|---|---|---|
|
BARO_EXT_BUS: External baro bus¶
This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the BARO_PROBE_EXT parameter.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
BARO2_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO3_GND_PRESS: Absolute Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
|---|---|---|---|
1 |
True |
pascal |
True |
BARO_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
BARO_PROBE_EXT: External barometers to probe¶
This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on BARO_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in BARO_EXT_BUS.
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BARO1_DEVID: Baro ID¶
Barometer sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO2_DEVID: Baro ID2¶
Barometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO3_DEVID: Baro ID3¶
Barometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
|---|
True |
BARO_FIELD_ELV: field elevation¶
User provided field elevation in meters. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.
Increment |
Units |
Volatile |
|---|---|---|
0.1 |
meters |
True |
BARO_ALTERR_MAX: Altitude error maximum¶
This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 5000 |
meters |
BARO_OPTIONS: Barometer options¶
Barometer options
Bitmask |
||||
|---|---|---|---|---|
|
BARO1_WCF_ Parameters¶
BARO1_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_ Parameters¶
BARO2_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_ Parameters¶
BARO3_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
|---|---|---|---|---|---|---|
|
BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Increment |
Range |
|---|---|
0.05 |
-1.0 to 1.0 |
BATT2_ Parameters¶
BATT2_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT2_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT2_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT2_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT2_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT2_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT2_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT2_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT2_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT2_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT2_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT2_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT2_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT3_ Parameters¶
BATT3_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT3_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT3_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT3_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT3_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT3_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT3_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT3_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT3_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT3_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT3_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT3_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT3_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT4_ Parameters¶
BATT4_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT4_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT4_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT4_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT4_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT4_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT4_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT4_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT4_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT4_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT4_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT4_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT4_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT5_ Parameters¶
BATT5_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT5_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT5_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT5_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT5_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT5_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT5_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT5_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT5_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT5_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT5_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT5_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT5_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT6_ Parameters¶
BATT6_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT6_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT6_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT6_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT6_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT6_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT6_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT6_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT6_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT6_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT6_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT6_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT6_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT7_ Parameters¶
BATT7_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT7_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT7_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT7_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT7_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT7_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT7_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT7_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT7_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT7_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT7_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT7_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT7_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT8_ Parameters¶
BATT8_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT8_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT8_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT8_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT8_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT8_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT8_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT8_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT8_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT8_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT8_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT8_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT8_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT9_ Parameters¶
BATT9_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT9_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT9_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT9_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT9_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT9_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT9_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT9_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT9_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT9_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT9_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT9_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT9_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_MAX_VOLT: Maximum Battery Voltage¶
Maximum voltage of battery. Provides scaling of current versus voltage
Range |
|---|
7 to 100 |
BATT_ Parameters¶
BATT_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 120 |
seconds |
BATT_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
|---|---|---|---|---|---|---|
|
BATT_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
|---|---|
0.1 |
volt |
BATT_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.
Increment |
Units |
|---|---|
50 |
milliampere hour |
BATT_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT_AMP_PERVLT: 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¶
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¶
Battery monitor I2C bus number
Range |
|---|
0 to 3 |
BATT_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
|---|
0 to 127 |
BATT_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
|---|
.1 to 10 |
BATT_FL_VLT_MIN: Empty fuel level voltage¶
The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
Units |
|---|---|
0.01 to 10 |
volt |
BATT_FL_V_MULT: Fuel level voltage multiplier¶
Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.
Range |
|---|
0.01 to 10 |
BATT_FL_FLTR: Fuel level filter frequency¶
Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.
Range |
Units |
|---|---|
-1 to 1 |
hertz |
BATT_FL_PIN: Fuel level analog pin number¶
Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.
Values |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_MAX_VOLT: Maximum Battery Voltage¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAM_RC_FEATURES: RunCam features available¶
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 |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAM_RC_BT_DELAY: RunCam boot delay before allowing updates¶
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¶
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¶
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¶
Specifies the allowed actions required to enter the OSD menu and other option like autorecording
Bitmask |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_ Parameters¶
COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶
Offset to be added to the compass x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶
Offset to be added to the compass y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶
Offset to be added to the compass z-axis values to compensate for metal in the frame
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¶
Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE: Use compass for yaw¶
Enable or disable the use of the compass (instead of the GPS) for determining heading
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_AUTODEC: Auto Declination¶
Enable or disable the automatic calculation of the declination based on gps location
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_MOTCT: Motor interference compensation type¶
Set motor interference compensation type to disabled, throttle or current. Do not change manually.
Calibration |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|
1 |
|
COMPASS_MOT_X: Motor interference compensation for body frame X axis¶
Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶
Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶
Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
|---|---|---|
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_ORIENT: Compass orientation¶
The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERNAL: Compass is attached via an external cable¶
Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶
Offset to be added to compass2's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶
Offset to be added to compass2's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶
Offset to be added to compass2's z-axis values to compensate for metal in the frame
Increment |
Range |
Units |
|---|---|---|
1 |
-400 to 400 |
milligauss |
COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis¶
Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis¶
Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis¶
Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
|---|---|---|
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶
Offset to be added to compass3's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶
Offset to be added to compass3's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-400 to 400 |
milligauss |
COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶
Offset to be added to compass3's z-axis values to compensate for metal in the frame
Increment |
Range |
Units |
|---|---|---|
1 |
-400 to 400 |
milligauss |
COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis¶
Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis¶
Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
|---|---|---|---|
1 |
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis¶
Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
|---|---|---|
1 |
-1000 to 1000 |
milligauss per ampere |
COMPASS_DEV_ID: Compass device id¶
Compass device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID2: Compass2 device id¶
Second compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID3: Compass3 device id¶
Third compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_USE2: Compass2 used for yaw¶
Enable or disable the secondary compass for determining heading.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_ORIENT2: Compass2 orientation¶
The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN2: Compass2 is attached via an external cable¶
Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE3: Compass3 used for yaw¶
Enable or disable the tertiary compass for determining heading.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_ORIENT3: Compass3 orientation¶
The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the COMPASS_CUS_ROLL/PIT/YAW angles for Compass orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_1_ROLL/PIT/YAW or CUST_2_ROLL/PIT/YAW angles.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN3: Compass3 is attached via an external cable¶
Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
COMPASS_DIA_X: Compass soft-iron diagonal X component¶
DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶
DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶
DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶
ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶
ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶
ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶
DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶
DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶
DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶
ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶
ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶
ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶
DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶
DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶
DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶
ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶
ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
|---|
1 |
COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶
ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_CAL_FIT: Compass calibration fitness¶
This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
Increment |
Range |
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
0.1 |
4 to 32 |
|
COMPASS_OFFS_MAX: Compass maximum offset¶
This sets the maximum allowed compass offset in calibration and arming checks
Increment |
Range |
|---|---|
1 |
500 to 3000 |
COMPASS_TYPEMASK: Compass disable driver type mask¶
This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
Bitmask |
||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
|---|---|---|
1 |
0 to 100 |
percent |
COMPASS_AUTO_ROT: Automatically check orientation¶
When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_PRIO1_ID: Compass device id with 1st order priority¶
Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO2_ID: Compass device id with 2nd order priority¶
Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO3_ID: Compass device id with 3rd order priority¶
Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
COMPASS_ENABLE: Enable Compass¶
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_SCALE: Compass1 scale factor¶
Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
|---|
0 to 1.3 |
COMPASS_SCALE2: Compass2 scale factor¶
Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
|---|
0 to 1.3 |
COMPASS_SCALE3: Compass3 scale factor¶
Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
|---|
0 to 1.3 |
COMPASS_OPTIONS: Compass options¶
This sets options to change the behaviour of the compass
Bitmask |
||||
|---|---|---|---|---|
|
COMPASS_DEV_ID4: Compass4 device id¶
Extra 4th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID5: Compass5 device id¶
Extra 5th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID6: Compass6 device id¶
Extra 6th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID7: Compass7 device id¶
Extra 7th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_DEV_ID8: Compass8 device id¶
Extra 8th compass's device id. Automatically detected, do not set manually
ReadOnly |
|---|
True |
COMPASS_CUS_ROLL: Custom orientation roll offset¶
Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_CUS_PIT: Custom orientation pitch offset¶
Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_CUS_YAW: Custom orientation yaw offset¶
Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
|---|---|---|
1 |
-180 to 180 |
degrees |
COMPASS_PMOT Parameters¶
COMPASS_PMOT_EN: per-motor compass correction enable¶
This enables per-motor compass corrections
Values |
||||||
|---|---|---|---|---|---|---|
|
COMPASS_PMOT_EXP: per-motor exponential correction¶
This is the exponential correction for the power output of the motor for per-motor compass correction
Increment |
Range |
|---|---|
0.01 |
0 to 2 |
COMPASS_PMOT1_X: Compass per-motor1 X¶
Compensation for X axis of motor1
COMPASS_PMOT1_Y: Compass per-motor1 Y¶
Compensation for Y axis of motor1
COMPASS_PMOT1_Z: Compass per-motor1 Z¶
Compensation for Z axis of motor1
COMPASS_PMOT2_X: Compass per-motor2 X¶
Compensation for X axis of motor2
COMPASS_PMOT2_Y: Compass per-motor2 Y¶
Compensation for Y axis of motor2
COMPASS_PMOT2_Z: Compass per-motor2 Z¶
Compensation for Z axis of motor2
COMPASS_PMOT3_X: Compass per-motor3 X¶
Compensation for X axis of motor3
COMPASS_PMOT3_Y: Compass per-motor3 Y¶
Compensation for Y axis of motor3
COMPASS_PMOT3_Z: Compass per-motor3 Z¶
Compensation for Z axis of motor3
COMPASS_PMOT4_X: Compass per-motor4 X¶
Compensation for X axis of motor4
COMPASS_PMOT4_Y: Compass per-motor4 Y¶
Compensation for Y axis of motor4
COMPASS_PMOT4_Z: Compass per-motor4 Z¶
Compensation for Z axis of motor4
CUST_ROT Parameters¶
CUST_ROT_ENABLE: Enable Custom rotations¶
This enables custom rotations
Values |
||||||
|---|---|---|---|---|---|---|
|
CUST_ROT1_ Parameters¶
CUST_ROT1_ROLL: Custom roll¶
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT1_PITCH: Custom pitch¶
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT1_YAW: Custom yaw¶
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_ Parameters¶
CUST_ROT2_ROLL: Custom roll¶
Custom euler roll, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_PITCH: Custom pitch¶
Custom euler pitch, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
CUST_ROT2_YAW: Custom yaw¶
Custom euler yaw, euler 321 (yaw, pitch, roll) ordering
Units |
|---|
degrees |
DID_ Parameters¶
DID_MAVPORT: MAVLink serial port¶
Serial port number to send OpenDroneID MAVLink messages to. Can be -1 if using DroneCAN.
Values |
||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
DID_CANDRIVER: DroneCAN driver number¶
DroneCAN driver index, 0 to disable DroneCAN
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
DID_OPTIONS: OpenDroneID options¶
Options for OpenDroneID subsystem
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
DID_BARO_ACC: Barometer vertical accuraacy¶
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_OPTIONS: External AHRS options¶
External AHRS options bitmask
Bitmask |
||||
|---|---|---|---|---|
|
EAHRS_SENSORS: External AHRS sensors¶
External AHRS sensors bitmask
Bitmask |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
EFI Parameters¶
EFI_TYPE: EFI communication type¶
What method of communication is used for EFI #1
Values |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EFI_COEF1: EFI Calibration Coefficient 1¶
Used to calibrate fuel flow for MS protocol (Slope). This should be calculated from a log at constant fuel usage rate. Plot (ECYL[0].InjT*EFI.Rpm)/600.0 to get the duty_cycle. Measure actual fuel usage in cm^3/min, and set EFI_COEF1 = fuel_usage_cm3permin / duty_cycle
Range |
|---|
0 to 1 |
EFI_COEF2: EFI Calibration Coefficient 2¶
Used to calibrate fuel flow for MS protocol (Offset). This can be used to correct for a non-zero offset in the fuel consumption calculation of EFI_COEF1
Range |
|---|
0 to 10 |
EFI_FUEL_DENS: ECU Fuel Density¶
Used to calculate fuel consumption
Range |
Units |
|---|---|
0 to 10000 |
kilograms per cubic meter |
ESC_TLM Parameters¶
ESC_TLM_MAV_OFS: ESC Telemetry mavlink offset¶
Offset to apply to ESC numbers when reporting as ESC_TELEMETRY packets over MAVLink. This allows high numbered motors to be displayed as low numbered ESCs for convenience on GCS displays. A value of 4 would send ESC on output 5 as ESC number 1 in ESC_TELEMETRY packets
Increment |
Range |
|---|---|
1 |
0 to 31 |
FENCE_ Parameters¶
FENCE_ENABLE: Fence enable/disable¶
Allows you to enable (1) or disable (0) the fence functionality
Values |
||||||
|---|---|---|---|---|---|---|
|
FENCE_ACTION: Fence Action¶
What action should be taken when fence is breached
Values |
||||||
|---|---|---|---|---|---|---|
|
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¶
Enable Gyro FFT analyser
Values |
||||||
|---|---|---|---|---|---|---|
|
FFT_MINHZ: Minimum Frequency¶
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¶
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¶
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¶
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¶
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¶
The learned hover noise frequency
Range |
|---|
0 to 250 |
FFT_THR_REF: FFT learned thrust reference¶
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¶
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¶
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¶
FFT learned bandwidth at hover for the attenuation frequencies.
Range |
|---|
0 to 200 |
FFT_HMNC_FIT: FFT harmonic fit frequency threshold¶
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¶
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 |
||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FFT_NUM_FRAMES: FFT output frames to retain and average¶
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 |
FFT_OPTIONS: FFT options¶
FFT configuration options. Values: 1:Apply the FFT *after* the filter bank,2:Check noise at the motor frequencies using ESC data as a reference
Bitmask |
||||||
|---|---|---|---|---|---|---|
|
FRSKY_ Parameters¶
FRSKY_UPLINK_ID: Uplink sensor id¶
Change the uplink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK1_ID: First downlink sensor id¶
Change the first extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK2_ID: Second downlink sensor id¶
Change the second extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK_ID: Default downlink sensor id¶
Change the default downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_OPTIONS: FRSky Telemetry Options¶
A bitmask to set some FRSky Telemetry specific options
Bitmask |
||||
|---|---|---|---|---|
|
GEN_ Parameters¶
GEN_TYPE: Generator type¶
Generator type
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GEN_OPTIONS: Generator Options¶
Bitmask of options for generators
Bitmask |
||||
|---|---|---|---|---|
|
GPS Parameters¶
GPS_TYPE: 1st GPS type¶
GPS type of 1st GPS
Values |
||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_TYPE2: 2nd GPS type¶
GPS type of 2nd GPS
Values |
||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_AUTO_SWITCH: Automatic Switchover Setting¶
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS¶
Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_SBAS_MODE: SBAS Mode¶
This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_MIN_ELEV: Minimum elevation¶
This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.
Range |
Units |
|---|---|
-100 to 90 |
degrees |
GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶
The GGS can send raw serial packets to inject data to multiple GPSes.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_RAW_DATA: Raw data logging¶
Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_GNSS_MODE: GNSS system configuration¶
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_SAVE_CFG: Save GPS configuration¶
Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_GNSS_MODE2: GNSS system configuration¶
Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_AUTO_CONFIG: Automatic GPS configuration¶
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_RATE_MS: GPS update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|---|
50 to 200 |
milliseconds |
|
GPS_RATE_MS2: GPS 2 update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
|---|---|---|---|---|---|---|---|---|---|---|
50 to 200 |
milliseconds |
|
GPS_POS1_X: Antenna X position offset¶
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_POS1_Y: Antenna Y position offset¶
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_POS1_Z: Antenna Z position offset¶
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_POS2_X: Antenna X position offset¶
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¶
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¶
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¶
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¶
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¶
Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
GPS_BLEND_TC: Blending time constant¶
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¶
Additional backend specific options
Bitmask |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_COM_PORT: GPS physical COM port¶
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¶
The physical COM port on the connected device, currently only applies to SBF GPS
Increment |
Range |
|---|---|
1 |
0 to 10 |
GPS_PRIMARY: Primary GPS¶
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
Increment |
Values |
||||||
|---|---|---|---|---|---|---|---|
1 |
|
GPS_CAN_NODEID1: GPS Node ID 1¶
GPS Node id for first-discovered GPS.
ReadOnly |
|---|
True |
GPS_CAN_NODEID2: GPS Node ID 2¶
GPS Node id for second-discovered GPS.
ReadOnly |
|---|
True |
GPS1_CAN_OVRIDE: First DroneCAN GPS NODE ID¶
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¶
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¶
Controls the type of moving base used if using moving base.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS_MB1_OFS_X: Base antenna X position offset¶
X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB1_OFS_Y: Base antenna Y position offset¶
Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB1_OFS_Z: Base antenna Z position offset¶
Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_ Parameters¶
GPS_MB2_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.
Values |
||||||
|---|---|---|---|---|---|---|
|
GPS_MB2_OFS_X: Base antenna X position offset¶
X position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive X is forward of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_OFS_Y: Base antenna Y position offset¶
Y position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Y is to the right of the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
|---|---|---|
0.01 |
-5 to 5 |
meters |
GPS_MB2_OFS_Z: Base antenna Z position offset¶
Z position of the base (primary) GPS antenna in body frame from the position of the 2nd antenna. Positive Z is down from the 2nd antenna. Use antenna phase centroid location if provided by the manufacturer.
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
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 at all times including when disarmed. Logging before arming can make for very large logfiles but can help a lot when tracking down startup issues and is necessary if logging of EKF replay data is selected via the LOG_REPLAY parameter. If LOG_DISARMED is set to 2, then logging will be enabled when disarmed, but not if a USB connection is detected. This can be used to prevent unwanted data logs being generated when the vehicle is connected via USB for log downloading or parameter changes.
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
LOG_REPLAY: Enable logging of information needed for Replay¶
If LOG_REPLAY is set to 1 then the EKF2 and EKF3 state estimators will log detailed information needed for diagnosing problems with the Kalman filter. LOG_DISARMED must be set to 1 or 2 or else the log will not contain the pre-flight data required for replay testing of the EKF's. It is suggested that you also raise LOG_FILE_BUFSIZE to give more buffer space for logging and use a high quality microSD card to ensure no sensor data is lost.
Values |
||||||
|---|---|---|---|---|---|---|
|
LOG_FILE_DSRMROT: Stop logging to current file on disarm¶
When set, the current log file is closed when the vehicle is disarmed. If LOG_DISARMED is set then a fresh log will be opened. Applies to the File and Block logging backends.
Values |
||||||
|---|---|---|---|---|---|---|
|
LOG_MAV_BUFSIZE: Maximum AP_Logger MAVLink Backend buffer size¶
Maximum amount of memory to allocate to AP_Logger-over-mavlink
Units |
|---|
kilobytes |
LOG_FILE_TIMEOUT: Timeout before giving up on file writes¶
This controls the amount of time before failing writes to a log file cause the file to be closed and logging stopped.
Units |
|---|
seconds |
LOG_FILE_MB_FREE: Old logs on the SD card will be deleted to maintain this amount of free space¶
Set this such that the free space is larger than your largest typical flight log
Range |
Units |
|---|---|
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_MAV_RATEMAX: Maximum logging rate for mavlink backend¶
This sets the maximum rate that streaming log messages will be logged to the mavlink backend. A value of zero means that rate limiting is disabled.
Increment |
Range |
Units |
|---|---|---|
0.1 |
0 to 1000 |
hertz |
LOG_BLK_RATEMAX: Maximum logging rate for block backend¶
This sets the maximum rate that streaming log messages will be logged to the 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 |
||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
MSP_OPTIONS: MSP OSD Options¶
A bitmask to set some MSP specific options
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NMEA_ Parameters¶
NMEA_RATE_MS: NMEA Output rate¶
NMEA Output rate. This controls the interval at which all the enabled NMEA messages are sent. Most NMEA systems expect 100ms (10Hz) or slower.
Increment |
Range |
Units |
|---|---|---|
1 |
20 to 2000 |
milliseconds |
NMEA_MSG_EN: Messages Enable bitmask¶
This is a bitmask of enabled NMEA messages. All messages will be sent consecutively at the same rate interval
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_ Parameters¶
NTF_LED_BRIGHT: LED Brightness¶
Select the RGB LED brightness level. When USB is connected brightness will never be higher than low regardless of the setting.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_TYPES: Buzzer Driver Types¶
Controls what types of Buzzer will be enabled
Bitmask |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_LED_OVERRIDE: Specifies colour source for the RGBLed¶
Specifies the source for the colours and brightness for the LED. OutbackChallenge conforms to the MedicalExpress (https://uavchallenge.org/medical-express/) rules, essentially "Green" is disarmed (safe-to-approach), "Red" is armed (not safe-to-approach). Traffic light is a simplified color set, red when armed, yellow when the safety switch is not surpressing outputs (but disarmed), and green when outputs are surpressed and disarmed, the LED will blink faster if disarmed and failing arming checks.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_DISPLAY_TYPE: Type of on-board I2C display¶
This sets up the type of on-board I2C display. Disabled by default.
Values |
||||||||||
|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_OREO_THEME: OreoLED Theme¶
Enable/Disable Solo Oreo LED driver, 0 to disable, 1 for Aircraft theme, 2 for Rover theme
Values |
||||||||
|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_PIN: Buzzer pin¶
Enables to connect active buzzer to arbitrary pin. Requires 3-pin buzzer or additional MOSFET! Some the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.
Values |
||||
|---|---|---|---|---|
|
NTF_LED_TYPES: LED Driver Types¶
Controls what types of LEDs will be enabled
Bitmask |
||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
NTF_BUZZ_ON_LVL: Buzzer-on pin logic level¶
Specifies pin level that indicates buzzer should play
Values |
||||||
|---|---|---|---|---|---|---|
|
NTF_LED_LEN: Serial LED String Length¶
The number of Serial LED's to use for notifications (NeoPixel's and ProfiLED)
Range |
|---|
1 to 32 |
Node Parameters¶
Node_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¶
This sets the default output rate in Hz for all outputs.
Range |
Units |
|---|---|
25 to 400 |
hertz |
OUT_DSHOT_RATE: Servo DShot output rate¶
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 |
||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT_DSHOT_ESC: Servo DShot ESC type¶
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 |
||||||||
|---|---|---|---|---|---|---|---|---|
|
OUT_GPIO_MASK: Servo GPIO mask¶
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 |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT_32_ENABLE: Enable outputs 17 to 31¶
This allows for up to 32 outputs, enabling parameters for outputs above 16
Values |
||||||
|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT10_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT11_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT12_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT13_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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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 |
||||||
|---|---|---|---|---|---|---|
|
OUT14_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
||||||
|---|---|---|---|---|---|---|
|
OUT15_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT16_ Parameters¶
OUT16_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT16_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT16_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT16_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT16_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT17_ Parameters¶
OUT17_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT17_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT17_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT17_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT17_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT18_ Parameters¶
OUT18_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT18_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT18_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT18_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT18_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT19_ Parameters¶
OUT19_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT19_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT19_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT19_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT19_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT1_ Parameters¶
OUT1_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT1_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT1_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT1_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT1_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT20_ Parameters¶
OUT20_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT20_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT20_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT20_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT20_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT21_ Parameters¶
OUT21_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT21_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT21_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT21_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT21_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT22_ Parameters¶
OUT22_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT22_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT22_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT22_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT22_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT23_ Parameters¶
OUT23_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT23_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT23_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT23_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT23_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT24_ Parameters¶
OUT24_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT24_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT24_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT24_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT24_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT25_ Parameters¶
OUT25_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT25_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT25_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT25_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT25_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT26_ Parameters¶
OUT26_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT26_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT26_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT26_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT26_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT27_ Parameters¶
OUT27_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT27_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT27_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT27_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT27_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT28_ Parameters¶
OUT28_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT28_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT28_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT28_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT28_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT29_ Parameters¶
OUT29_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT29_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT29_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT29_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT29_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT2_ Parameters¶
OUT2_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT2_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT2_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT2_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT2_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT30_ Parameters¶
OUT30_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT30_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT30_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT30_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT30_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
OUT31_ Parameters¶
OUT31_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT31_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT31_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT31_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
|
OUT31_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 |
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|---|---|---|---|---|---|---|
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OUT32_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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OUT3_ Parameters¶
OUT3_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT3_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT3_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT3_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
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|---|---|---|---|---|---|---|
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OUT3_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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OUT4_ Parameters¶
OUT4_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT4_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT4_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT4_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
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|---|---|---|---|---|---|---|
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OUT4_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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OUT5_ Parameters¶
OUT5_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT5_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT5_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT5_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
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|---|---|---|---|---|---|---|
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OUT5_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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OUT6_ Parameters¶
OUT6_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT6_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT6_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT6_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
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|---|---|---|---|---|---|---|
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OUT6_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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OUT7_ Parameters¶
OUT7_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT7_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT7_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT7_REVERSED: Servo reverse¶
Reverse servo operation. Set to 0 for normal operation. Set to 1 to reverse this output channel.
Values |
||||||
|---|---|---|---|---|---|---|
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OUT7_FUNCTION: Servo output function¶
Function assigned to this servo. Setting this to Disabled(0) will setup this output for control by auto missions or MAVLink servo set commands. any other value will enable the corresponding function
Values |
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OUT8_ Parameters¶
OUT8_MIN: Minimum PWM¶
minimum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT8_MAX: Maximum PWM¶
maximum PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|---|---|
1 |
800 to 2200 |
PWM in microseconds |
OUT8_TRIM: Trim PWM¶
Trim PWM pulse width in microseconds. Typically 1000 is lower limit, 1500 is neutral and 2000 is upper limit.
Increment |
Range |
Units |
|---|