Future Wiki Changes (in Master branch now)


RCx_OPTIONs on Auxillary Functions Page:

RCx_OPTION value Feature Description Copter Plane Rover
78 RunCam Control X X X
79 RunCam OSD Control X X X
80 Viso Align X    
81 Disarm X X X
82 Q_Assist 3Pos Sw   X  
83 ZIGZAG Auto X    
84 AIRMODE(not a flight mode) X    
85 Generator X X X
86 Non Auto Terrain Follow Disable   x  
87 CROW Mode Switch   X  
100 Kill IMU1 (testing only!) X X X
101 Kill IMU2 (testing only!) X X X
105 GPS Disable Yaw (testing only!) X X X
209 Forward Throttle   X  
300-307 Scripting RC channels X X X
Option Description
ZigZag Mode Learn Waypoints

Sets zigzag point A and B. See ZigZag Mode .

RunCam Control

Allows starting and stopping video recording of compatible RunCam cameras. See RunCam Camera Support

RunCam OSD Control

Enables control of RunCam cameras OSDs. See RunCam Camera Support

Viso Align

Align T265 Visual Odometry camera attitude to vehicle’s.


Disarm vehicle unconditionally and immediately. Unlike Emergency Stop Motors, which waits for DISARM_DELAY in Copter.

Q_Assist 3Pos SW

Low: disable Q_Assist entirely, Middle: Normal Q_Assist operation, High: Q_Assist active at all times. See Assisted Fixed Wing Flight section of Flying a QuadPlane

ZigZag Mode Auto Enable

Enable automatic zigzag and sprayer in ZIGZAG mode. See ZigZag Mode

AIRMODE (not a regular flight mode)

Enables and disables AIRMODE feature. See AirMode

GPS Disable Yaw

Disables yaw for testing (advanced users only!)

Mode control for Richenpower Hybrid Power Generator

Non Auto Terrain Follow Disable

Disables Terrain Following in CRUISE and FBWB modes

CROW Mode Switch

Selects between different CROW aileron operating modes

Kill IMU1

Disables IMU1 for testing (advanced users only!)

Kill IMU2

Disables IMU2 for testing (advanced users only!)

Forward Throttle

Manual forward motor throttle in QSTABILIZE, QACRO, and QHOVER modes

Scripting RC channels

Allows reading a dedicated RC channel for script inputs

Serial Port Protocol Options

Value Protocol

Runcam see RunCam Camera Support


Scripting see Lua Scripts

LUA Scripting (common-lua-scripts)

see Wiki PR #2839 many new bindings

add to “Getting Started”:

  • Scripts which require no user editing before use (Applets) can be found here . Each of these have an .md file of the same name detailing its capabilities, use and setup. For example, there is a script to allow a user to change a SmartAudio capable video transmitter’s output power level from a transmitter channel and set its power-up value via parameter.
  • Up to 8 RC channels can be assigned as scripting inputs/controls using the``RCX_OPTION`` = “300-307” options. In addition, four dedicated script parameters are avaliable: SCR_USER1 thru SCR_USER4 and are accessed with the same method as any other parameter, but these are reserved for script use.

Logging (common-downloading-and-analyzing-data-logs-in-mission-planner)

LOG_FILE_MB_FREE : This parameter sets the minimum free space on the logging media before logging begins. If this is not available, then older logs will be deleted to provide it during initialization. Default is 500MB.

Managing Gyro Noise with the Static Notch and Dynamic Harmonic Notch Filters(common-imu-notch-filtering)

see Wiki PR #2901 < improved notch filtering operation

SRXL2 and CRSF RX Protocol Additions

see Wiki PR #2905

update Common-RC-Systems and Common-Autopilot-Wiring pages with links to new pages


On Quadplane Flying Page:

Change to WARNING box:

This can be managed somewhat with manual throttle control when manually transitioning, but in AUTO mode, a VTOL to fixed wing transition is currently done with TKOFF_THR_MAX p on the forward motor until transition is complete, so very high currents can be experienced..

Changes to Assisted Fixed-Wing Flight:

  • change From: “To enable quad assistance you should set Q_ASSIST_SPEED parameter to the airspeed below which you want assistance.” To : VTOL motor assistance is enabled if Q_ASSIST_SPEED, Q_ASSIST_ALT , or Q_ASSIST_ANGLE are non-zero.
  • remove: “The attitude assistance will only be used if Q_ASSIST_SPEED greater than zero.”
  • add after Q_ASSIST_ALT paragraph: Assistance can also be enabled, disabled, or forced by setting an RC switch to RCx_OPTION = 82. If that channel is below 1200us (LOW), then assistance is unconditionally disabled, if above 1800us, (HIGH) then assistance is always enabled. Fot other RC values, assistance will be enabled as explained above.

Assistance can also be forced active all the time by setting Q_OPTIONS bit 7 to “1”. For Tailsitters, assistance for tailsitters can be limited only to VTOL motors by by setting Q_OPTIONS bit 8 to “1”. This can increase stabiity during assistance by not using the copter style pid gains on the flying surfaces as well as the VTOL motors, or for use with copter tailsitters without servo controlled flying surfaces.

  • add .. note:: Assistance is available for all QuadPlane frame types except the single motor and non-tilt dual motor tailsitter frames.

Assistance will be activated Q_ASSIST_DELAY after any of the above enabling thresholds are reached.

Add section:

Manual Forward Throttle in VTOL Modes

By setting an RC channel option (RCx_OPTION) to “209”, that channel can provide a separate throttle input to the forward motor(s) in QSTABILIZE, QACRO, and QHOVER VTOL modes. This allows forward movement without having to tilt the QuadPlane forward requiring throttle stick repositioning in QSTABILIZE and QACRO to maintain altitude, and present more forward flat plate resistance to forward movement in all modes.

On Terrain Following Page:

At the end of Flight Modes section:

Terrain Following in CRUISE and FBWB modes can be disabled with an RC switch assigned RCx_OPTION = 86. When enabling (<1200us) or disabling (>1800us) terrain following with the switch, the present altitude will be the target set point either above terrain, or home, respectively. The target altitude can be changed as normal with elevator whether the altitude refernce being used is above home or above terrain.

On Dspoiler Page:

Add at bottom of page:

Crow Mode Switch

If Differential Spoilers are used, setting an RCx_OPTIONS channel to “87” will allow the control of CROW aileron (outer spoilers) operation.

  • HIGH position: No change to CROW deflection amount or use of progressive crow.
  • MIDDLE position: force progressive crow, assuming DSPOILER_CROW_W1 is non-zero, even if DSPOILER_OPTS bit 2 is zero.
  • LOW position: effectively sets DSPOILER_CROW_W1 to zero. Only inner spoilers move with FLAP channel, ie normal flaps.

This allows live changes to CROW operation on approaches so that speed braking and descent rates can be changed during the approach.


On BendyRuler page:

  • replace OA_LOOKAHEAD label with OA_BR_LOOKAHEAD
  • add these params under configuration:
    • OA_BR_CONT_RATIO : BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.
    • OA_BR_CONT_ANGLE : BendyRuler will resist changing current bearing if the change in bearing is over this angle

On AIRMODE page:

AIRMODE can also be set to be active without using the RCx_OPTION ARM/DISARM switch to arm. Setting an RC channel to RCx_OPTION = 84, allows enabling or disabling AIRMODE in ACRO and STABILIZE modes directly. In addition, setting bit 0 of ACRO_OPTIONS will activate AIRMODE in those modes all the time.

On ACRO mode page:

in the first paragraph add: Pure Rate mode stabilization, utilizing only the gyros with no attitude feedback from the accelerometers, can be forced by setting bit 1 of ACRO_OPTIONS to one. Attitude will still have an open loop correction applied in this mode, similar to “heading hold” tail gyros, but attitude can drift over time.


add Fence section to Sailboat configuration page:


Sailboats behave in the same manner as other Rovers regarding fence operation and breach failsafe actions. However, unlike other Rovers, which slow as they approach a fence boundary, Sailboats will just attempt to tack away from the boundary since they have no speed controller, as such.