List of Firmware Limitations by Board

Dynamically generated by update.py. Do not edit.

Plane Omitted features by board type in “latest” builds from build server

Board Index

All Features

Category

Feature

Description

Actuators

FETTecOneWire

Enable FETTec OneWire ESCs

Actuators

HimarkServo

Enable Himark DroneCAN servos

Actuators

HobbywingESC

Enable Hobbywing DroneCAN ESCs

Actuators

KDECAN

KDE Direct KDECAN ESC

Actuators

RobotisServo

Enable RobotisServo Protocol

Actuators

SBUS Output

Enable SBUS Output on serial ports

Actuators

Volz

Enable Volz Protocol

Actuators

Volz_DroneCAN

Enable Volz DroneCAN Feedback

AHRS

AHRS_EXT

Enable External AHRS

AHRS

AHRS_EXT_MICROSTRAIN5

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

Enable VectorNav External AHRS

AHRS

EKF2

Enable EKF2

AHRS

EKF3

Enable EKF3

AHRS

EKF3_EXTNAV

Enable External Navigation for EKF3

AHRS

EKF3_WINDEST

Enable Wind Estimation for EKF3

AHRS

TEMPCAL

Enable IMU Temperature Calibration

AHRS

VISUALODOM

Enable Visual Odometry

Airspeed Drivers

Analog

Enable Analog Airspeed

Airspeed Drivers

ASP5033

ENABLE ASP5033 AIRSPEED

Airspeed Drivers

DLVR

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MS4525

ENABLE MS4525 AIRSPEED

Airspeed Drivers

MS5525

ENABLE MS5525 AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

ENABLE NMEA AIRSPEED

Airspeed Drivers

SDP3X

ENABLE SDP3X AIRSPEED

AP_Periph

LONG_TEXT

Enable extended length text strings

Baro

BARO_TEMPCAL

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

Enable Baro Wind Compensation

Baro

BMP085

Enable BMP085 Barometric Sensor

Baro

BMP280

Enable BMP280 Barometric Sensor

Baro

BMP388

Enable BMP388 Barometric Sensor

Baro

DPS280

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

Enable DroneCAN Barometric Sensor

Baro

DUMMY

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

Enable FBM320 Barometric Sensor

Baro

ICM20789

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

Enable LPS2XH Barometric Sensor

Baro

MS56XX

Enable MS56XX Barometric Sensor

Baro

MSP_BARO

Enable MSP Barometric Sensor

Baro

SPL06

Enable SPL06 Barometric Sensor

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

Enable INA2XX BatteryMonitor

Battery

BATTERY_SMBUS

Enable SMBUS BatteryMonitor

Battery

BATTERY_SYNTHETIC_CURRENT

Enable Synthetic Current Monitor

Battery

BATTERY_WATT_MAX

Enable param BATT_WATT_MAX

Camera

Camera

Enable Camera Trigger support

Camera

Camera_FOV_Status

Enable Camera FOV Status send to GCS

Camera

Camera_MAVLink

Enable MAVLink Camera support

Camera

Camera_MAVLinkCamV2

Enable MAVLink CameraV2 support

Camera

Camera_Mount

Enable Camera-in-Mount support

Camera

Camera_Relay

Enable Camera Trigger via Relay support

Camera

Camera_Servo

Enable Camera Trigger via Servo support

Camera

Camera_Solo

Enable Solo Gimbal support

Camera

RUNCAM

Enable RunCam Control

Compass

AK09916

Enable AK09916 compasses

Compass

AK8963

Enable AK8963 compasses

Compass

BMM150

Enable BMM150 compasses

Compass

CompassLearn

Enable In-Flight Compass Learning

Compass

DRONECAN_COMPASS

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

Enable ExternalAHRS compasses

Compass

FixedYawCal

Enable Fixed-Yaw Compass Calibration

Compass

HMC5843

Enable HMC5843 compasses

Compass

ICM20948

Enable AK09916 on ICM20948 compasses

Compass

IST8308

Enable IST8308 compasses

Compass

LIS3MDL

Enable LIS3MDL compasses

Compass

LSM303D

Enable LSM303D compasses

Compass

LSM9DS1

Enable LSM9DS1 compasses

Compass

MAG3110

Enable MAG3110 compasses

Compass

MMC3416

Enable MMC3416 compasses

Compass

MMC5XX3

Enable MMC5XX3 compasses

Compass

QMC5883L

Enable QMC5883L compasses

Compass

RM3100

Enable RM3100 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

Enable Mode Brake

Copter

MODE_FLIP

Enable Mode Flip

Copter

MODE_FLOWHOLD

Enable Mode Flowhold

Copter

MODE_FOLLOW

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

Enable Mode Guided NoGPS

Copter

MODE_SPORT

Enable Mode Sport

Copter

MODE_SYSTEMID

Enable Mode SystemID

Copter

MODE_TURTLE

Enable Mode Turtle

Copter

MODE_ZIGZAG

Enable Mode ZigZag

Developer

CRASHCATCHER

Enable CrashCatcher

Developer

KILL_IMU

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

Enable PiccoloCAN

ESC

TORQEEDO

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

Enable apj_tool parameter area

Filesystem

FILESYSTEM_MISSION

Enable @MISSION/ filesystem

Filesystem

FILESYSTEM_PARAM

Enable @PARAM/ filesystem

Filesystem

FILESYSTEM_ROMFS

Enable @ROMFS/ filesystem

Filesystem

FILESYSTEM_SYS

Enable @SYS/ filesystem

Generator

GENERATOR

Enable Generator

Generator

GENERATOR_IE2400

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

Enable Richenpower Generator

Gimbal

ALEXMOS

Enable Alexmos Gimbal

Gimbal

GREMSY

Enable Gremsy Gimbal

Gimbal

MOUNT

Enable Mount

Gimbal

SERVO

Enable Servo Gimbal

Gimbal

SIYI

Enable Siyi Gimbal

Gimbal

SOLOGIMBAL

Enable Solo Gimbal

Gimbal

STORM32_MAVLINK

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

Enable Viewpro Gimbal

Gimbal

XACTI

Enable Xacti Gimbal

GPS Drivers

DroneCAN_Out

Enable Sending GPS from Autopilot

GPS Drivers

ERB

Enable ERB GPS

GPS Drivers

GSOF

Enable GSOF GPS

GPS Drivers

MAV

Enable MAVLink GPS

GPS Drivers

NMEA_GPS

Enable NMEA GPS

GPS Drivers

NMEA_UNICORE

Enable NMEA Unicore GPS

GPS Drivers

NOVA

Enable NOVA GPS

GPS Drivers

SBF

Enable SBF GPS

GPS Drivers

SBP

Enable SBP GPS

GPS Drivers

SBP2

Enable SBP2 GPS

GPS Drivers

SIRF

Enable SiRF GPS

GPS Drivers

UBLOX

Enable u-blox GPS

ICE

EFI

Enable EFI Monitoring

ICE

EFI_CURRAWONGECU

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

Enable EFI DroneCAN

ICE

EFI_HIRTH

Enable EFI Hirth ECU

ICE

EFI_Lutan

Enable EFI Lutan

ICE

EFI_MAV

Enable EFI MAV

ICE

EFI_MegaSquirt

Enable EFI MegaSquirt

ICE

EFI_NMPWU

Enable EFI NMPMU

ICE

ICE Engine

Enable Internal Combustion Engine support

Ident

ADSB

Enable ADSB

Ident

ADSB_SAGETECH

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

Enable uAvionix UCP ADSB

Ident

AIS

Enable AIS

Ident

OpenDroneID

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_BATTERY2_ENABLED

Enable sending of old BATTERY2 message

MAVLink

AP_MAVLINK_FTP_ENABLED

Enable MAVLink FTP Protocol

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_DEVICE_OP_ENABLED

Enable handling of DeviceOp mavlink messages

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

Enable sending of RELAY_STATUS message

MAVLink

AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED

Enable handling of Serial Control mavlink messages

MAVLink

AP_MAVLINK_SERVO_RELAY_ENABLED

Enable handling of ServoRelay mavlink messages

MAVLink

FENCEPOINT_PROTOCOL

Enable old MAVLink FencePoint protocol

MAVLink

HIGHLAT2

Enable HighLatency2 Support

MAVLink

RALLYPOINT_PROTOCOL

Enable old MAVLink RallyPoint protocol

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

Enable handling of NAV_PAYLOAD_PLACE mission items

MSP

MSP

Enable MSP Telemetry and MSP OSD

MSP

MSP_COMPASS

Enable MSP Compass

MSP

MSP_DISPLAYPORT

Enable MSP DisplayPort OSD (aka CANVAS MODE)

MSP

MSP_GPS

Enable MSP GPS

MSP

MSP_OPTICALFLOW

Enable MSP OpticalFlow

MSP

MSP_RANGEFINDER

Enable MSP Rangefinder

MSP

MSP_SENSORS

Enable MSP Sensors

Networking

PPP Support

Enable PPP networking

Notify

LED_CONTROL

Enable MAVLink LED Control

Notify

NOTIFY_NCP5623

Enable NCP5623 LED

Notify

NOTIFY_NEOPIXEL

Enable NeoPixel

Notify

NOTIFY_PROFILED

Enable ProfiLED

Notify

NOTIFY_PROFILED_SPI

Enable ProfiLED (SPI)

Notify

PLAY_TUNE

Enable MAVLink Play Tune

Notify

TONEALARM

Enable ToneAlarm on PWM

OSD

OSD

Enable OSD

OSD

OSD_PARAM

Enable OSD param

OSD

OSD_SIDEBARS

Enable Scrolling Sidebars

OSD

PLUSCODE

Enable PlusCode

Other

BOOTLOADER_FLASHING

Enable Bootloader flashing

Other

Buttons

Enable Buttons

Other

COMPASS_CAL

Enable “tumble” compass calibration

Other

CUSTOM_ROTATIONS

Enable Custom Rotations

Other

DISPLAY

Enable I2C Displays

Other

DRONECAN_SERIAL

Enable DroneCAN virtual serial ports

Other

GyroFFT

Enable In-Flight Gyro FFT calculations

Other

Logging

Enable Logging

Other

NMEA_OUTPUT

Enable NMEA Output

Other

SCRIPTING

Enable LUA Scripting

Other

SDCARD_FORMATTING

Enable formatting of microSD cards

Other

SDCARD_MISSION

Enable storing mission on microSD cards

Other

SLCAN

Enable SLCAN serial protocol

Payload

GRIPPER

Enable Gripper

Payload

LANDING_GEAR

Enable Landing Gear

Payload

RELAY

Enable Relay support

Payload

SERVORELAY_EVENTS

Enable Servo/Relay Event support

Payload

SPRAYER

Enable Sprayer

Payload

WINCH

Enable Winch

Plane

ADVANCED_FAILSAFE

Enable Advanced Failsafe features

Plane

AP_TX_TUNING

Enable TX-based tuning parameter adjustments

Plane

DEEPSTALL

Enable Deepstall Landing

Plane

PLANE_BLACKBOX

Enable blackbox logging

Plane

QAUTOTUNE

Enable QuadPlane Autotune mode

Plane

QUADPLANE

Enable QuadPlane support

Plane

SOARING

Enable Soaring

Precision Landing

PrecLand

Enable Precision Landing support

Precision Landing

PrecLand - Companion

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand - IRLock

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY

Enable Proximity

Proximity

PROXIMITY_CYGBOT

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

Enable TerraRangerTower Evo Proximity Sensors

Rangefinder

RANGEFINDER

Enable Rangefinders

Rangefinder

RANGEFINDER_ANALOG

Enable Rangefinder - Analog

Rangefinder

RANGEFINDER_BENEWAKE_CAN

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_BENEWAKE_TF02

Enable Rangefinder - Benewake -TF02

Rangefinder

RANGEFINDER_BENEWAKE_TF03

Enable Rangefinder - Benewake - TF03

Rangefinder

RANGEFINDER_BENEWAKE_TFMINI

Enable Rangefinder - Benewake - TFMini

Rangefinder

RANGEFINDER_BENEWAKE_TFMINIPLUS

Enable Rangefinder - Benewake - TFMiniPlus

Rangefinder

RANGEFINDER_BLPING

Enable Rangefinder - BLPing

Rangefinder

RANGEFINDER_DRONECAN

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_GYUS42V2

Enable Rangefinder - GYUS42V2

Rangefinder

RANGEFINDER_HC_SR04

Enable Rangefinder - HC_SR04

Rangefinder

RANGEFINDER_JRE_SERIAL

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LANBAO

Enable Rangefinder - Lanbao

Rangefinder

RANGEFINDER_LEDDARONE

Enable Rangefinder - LeddarOne

Rangefinder

RANGEFINDER_LEDDARVU8

Enable Rangefinder - LeddarVU8

Rangefinder

RANGEFINDER_LIGHTWARE_SERIAL

Enable Rangefinder - Lightware (serial)

Rangefinder

RANGEFINDER_LUA

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_LWI2C

Enable Rangefinder - Lightware (i2c)

Rangefinder

RANGEFINDER_MAVLINK

Enable Rangefinder - MAVLink

Rangefinder

RANGEFINDER_MAXBOTIX_SERIAL

Enable Rangefinder - MaxBotix (serial)

Rangefinder

RANGEFINDER_MAXSONARI2CXL

Enable Rangefinder - MaxSonarI2CXL

Rangefinder

RANGEFINDER_NMEA

Enable Rangefinder - NMEA

Rangefinder

RANGEFINDER_NOOPLOOP

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_PULSEDLIGHTLRF

Enable Rangefinder - PulsedLightLRF

Rangefinder

RANGEFINDER_PWM

Enable Rangefinder - PWM

Rangefinder

RANGEFINDER_TOFSF_I2C

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_TR_SERIAL

Enable Rangefinder - TeraRanger Serial

Rangefinder

RANGEFINDER_TRI2C

Enable Rangefinder - TeraRangerI2C

Rangefinder

RANGEFINDER_USD1_CAN

Enable Rangefinder - USD1 (CAN)

Rangefinder

RANGEFINDER_USD1_SERIAL

Enable Rangefinder - USD1 (SERIAL)

Rangefinder

RANGEFINDER_VL53L0X

Enable Rangefinder - VL53L0X

Rangefinder

RANGEFINDER_VL53L1X

Enable Rangefinder - VL53L1X

Rangefinder

RANGEFINDER_WASP

Enable Rangefinder - Wasp

RC

RC_CRSF

Enable CRSF RC Protocol

RC

RC_GHST

Enable Ghost RC Protocol

RC

RC_IBUS

Enable IBus RC Protocol

RC

RC_PPMSUM

Enable PPMSum Protocol

RC

RC_Protocol

Enable Serial RC Protocol support

RC

RC_SBUS

Enable SBUS Protocol

RC

RC_SRXL

Enable SRXL RC Protocol

RC

RC_SRXL2

Enable SRXL2 RC Protocol

RC

RC_ST24

Enable ST24 Protocol

RC

RC_SUMD

Enable SUMD RC Protocol

Safety

AC_AVOID

Enable Avoidance

Safety

AC_OAPATHPLANNER

Enable Object Avoidance Path Planner

Safety

FENCE

Enable Geofence

Safety

PARACHUTE

Enable Parachute

Safety

RALLY

Enable Rally Points

Sensors

AIRSPEED

Enable Airspeed Sensors

Sensors

BEACON

Enable Beacon

Sensors

GPS_MOVING_BASELINE

Enable GPS Moving Baseline

Sensors

IMU_ON_UART

Enable sending raw IMU data on a serial port

Sensors

OPTICALFLOW

Enable Optical Flow

Sensors

OPTICALFLOW_CXOF

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW_HEREFLOW

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

Enable Optical flow UPFLOW Sensor

Sensors

RPM

Enable RPM sensors

Sensors

RPM_EFI

Enable RPM EFI sensors

Sensors

RPM_ESC_TELEM

Enable RPM ESC Telemetry sensors

Sensors

RPM_GENERATOR

Enable Generator RPM sensors

Sensors

RPM_HARMONIC_NOTCH

Enable RPM Harmonic Notch sensors

Sensors

RPM_PIN

Enable RPM Pin-based sensors

Sensors

TEMP

Enable Temperature Sensors

Sensors

TEMP_MCP9600

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

Enable Temp Sensor - TSYS03

Telemetry

AUX_FUNCTION_STRINGS

Enable Auxilliary Function activation text

Telemetry

CRSF

Enable CRSF Telemetry

Telemetry

CRSFText

Enable CRSF Text Param Selection

Telemetry

FrSky

Enable FrSky Telemetry

Telemetry

FrSky D

Enable FrSkyD Telemetry

Telemetry

FrSky SPort

Enable FrSkySPort Telemetry

Telemetry

FrSky SPort PassThrough

Enable FrSkySPort PassThrough Telemetry

Telemetry

GHST

Enable Ghost Telemetry

Telemetry

HOTT

Enable HOTT Telemetry

Telemetry

LTM

Enable LTM Telemetry

Telemetry

SPEKTRUM

Enable Spektrum Telemetry

VTOL Frame

DECA

DECA

VTOL Frame

DODECAHEXA

DODECAHEXA

VTOL Frame

HEXA

HEXA

VTOL Frame

OCTA

OCTA

VTOL Frame

OCTAQUAD

OCTAQUAD

VTOL Frame

QUAD

QUADS(BI,TRI also)

VTOL Frame

Y6

Y6

VTX

SMARTAUDIO

Enable SmartAudio VTX Contol

VTX

TRAMP

Enable IRC Tramp VTX Control

VTX

VIDEO_TX

Enable VideoTX control

Boards

ACNS-CM4Pilot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MSP_BARO

No

Enable MSP Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Camera

RUNCAM

No

Enable RunCam Control

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_GPS

No

Enable NMEA GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_COMPASS

No

Enable MSP Compass

MSP

MSP

No

Enable MSP Telemetry and MSP OSD

MSP

MSP_GPS

No

Enable MSP GPS

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_RANGEFINDER

No

Enable MSP Rangefinder

MSP

MSP_SENSORS

No

Enable MSP Sensors

MSP

MSP_DISPLAYPORT

No

Enable MSP DisplayPort OSD (aka CANVAS MODE)

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

OSD_SIDEBARS

No

Enable Scrolling Sidebars

OSD

PLUSCODE

No

Enable PlusCode

OSD

OSD

No

Enable OSD

OSD

OSD_PARAM

No

Enable OSD param

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

SOARING

No

Enable Soaring

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

FrSky SPort PassThrough

No

Enable FrSkySPort PassThrough Telemetry

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

CRSF

No

Enable CRSF Telemetry

Telemetry

CRSFText

No

Enable CRSF Text Param Selection

Telemetry

HOTT

No

Enable HOTT Telemetry

Telemetry

SPEKTRUM

No

Enable Spektrum Telemetry

VTX

SMARTAUDIO

No

Enable SmartAudio VTX Contol

VTX

TRAMP

No

Enable IRC Tramp VTX Control

ACNS-F405AIO

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MSP_BARO

No

Enable MSP Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Camera

RUNCAM

No

Enable RunCam Control

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_GPS

No

Enable NMEA GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_COMPASS

No

Enable MSP Compass

MSP

MSP

No

Enable MSP Telemetry and MSP OSD

MSP

MSP_GPS

No

Enable MSP GPS

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_RANGEFINDER

No

Enable MSP Rangefinder

MSP

MSP_SENSORS

No

Enable MSP Sensors

MSP

MSP_DISPLAYPORT

No

Enable MSP DisplayPort OSD (aka CANVAS MODE)

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

OSD_SIDEBARS

No

Enable Scrolling Sidebars

OSD

PLUSCODE

No

Enable PlusCode

OSD

OSD

No

Enable OSD

OSD

OSD_PARAM

No

Enable OSD param

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

SOARING

No

Enable Soaring

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

FrSky SPort PassThrough

No

Enable FrSkySPort PassThrough Telemetry

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

CRSF

No

Enable CRSF Telemetry

Telemetry

CRSFText

No

Enable CRSF Text Param Selection

Telemetry

HOTT

No

Enable HOTT Telemetry

Telemetry

SPEKTRUM

No

Enable Spektrum Telemetry

VTX

SMARTAUDIO

No

Enable SmartAudio VTX Contol

VTX

TRAMP

No

Enable IRC Tramp VTX Control

airbotf4

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP280

No

Enable BMP280 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MSP_BARO

No

Enable MSP Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Camera

RUNCAM

No

Enable RunCam Control

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_GPS

No

Enable NMEA GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_COMPASS

No

Enable MSP Compass

MSP

MSP

No

Enable MSP Telemetry and MSP OSD

MSP

MSP_GPS

No

Enable MSP GPS

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_RANGEFINDER

No

Enable MSP Rangefinder

MSP

MSP_SENSORS

No

Enable MSP Sensors

MSP

MSP_DISPLAYPORT

No

Enable MSP DisplayPort OSD (aka CANVAS MODE)

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

OSD_SIDEBARS

No

Enable Scrolling Sidebars

OSD

PLUSCODE

No

Enable PlusCode

OSD

OSD

No

Enable OSD

OSD

OSD_PARAM

No

Enable OSD param

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

SOARING

No

Enable Soaring

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

FrSky SPort PassThrough

No

Enable FrSkySPort PassThrough Telemetry

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

CRSF

No

Enable CRSF Telemetry

Telemetry

CRSFText

No

Enable CRSF Text Param Selection

Telemetry

HOTT

No

Enable HOTT Telemetry

Telemetry

SPEKTRUM

No

Enable Spektrum Telemetry

VTX

SMARTAUDIO

No

Enable SmartAudio VTX Contol

VTX

TRAMP

No

Enable IRC Tramp VTX Control

Airvolute-DCS2

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

AnyleafH7

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK09916

No

Enable AK09916 compasses

Compass

AK8963

No

Enable AK8963 compasses

Compass

BMM150

No

Enable BMM150 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

HMC5843

No

Enable HMC5843 compasses

Compass

ICM20948

No

Enable AK09916 on ICM20948 compasses

Compass

IST8308

No

Enable IST8308 compasses

Compass

LIS3MDL

No

Enable LIS3MDL compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC3416

No

Enable MMC3416 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Compass

QMC5883L

No

Enable QMC5883L compasses

Compass

RM3100

No

Enable RM3100 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Aocoda-RC-H743Dual

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_NMPWU

No

Enable EFI NMPMU

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

ARKV6X

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

BOOTLOADER_FLASHING

No

Enable Bootloader flashing

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

AtomRCF405NAVI

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

PARACHUTE

No

Enable Parachute

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

BeastF7

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MS56XX

No

Enable MS56XX Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK09916

No

Enable AK09916 compasses

Compass

AK8963

No

Enable AK8963 compasses

Compass

BMM150

No

Enable BMM150 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

HMC5843

No

Enable HMC5843 compasses

Compass

ICM20948

No

Enable AK09916 on ICM20948 compasses

Compass

IST8308

No

Enable IST8308 compasses

Compass

LIS3MDL

No

Enable LIS3MDL compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC3416

No

Enable MMC3416 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Compass

QMC5883L

No

Enable QMC5883L compasses

Compass

RM3100

No

Enable RM3100 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

BeastF7v2

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP280

No

Enable BMP280 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MS56XX

No

Enable MS56XX Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

BeastH7

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK09916

No

Enable AK09916 compasses

Compass

AK8963

No

Enable AK8963 compasses

Compass

BMM150

No

Enable BMM150 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

HMC5843

No

Enable HMC5843 compasses

Compass

ICM20948

No

Enable AK09916 on ICM20948 compasses

Compass

IST8308

No

Enable IST8308 compasses

Compass

LIS3MDL

No

Enable LIS3MDL compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC3416

No

Enable MMC3416 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Compass

QMC5883L

No

Enable QMC5883L compasses

Compass

RM3100

No

Enable RM3100 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_NMPWU

No

Enable EFI NMPMU

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SLCAN

No

Enable SLCAN serial protocol

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

BeastH7v2

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_NMPWU

No

Enable EFI NMPMU

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SLCAN

No

Enable SLCAN serial protocol

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

crazyflie2

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP280

No

Enable BMP280 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

MSP_BARO

No

Enable MSP Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Camera

RUNCAM

No

Enable RunCam Control

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_GPS

No

Enable NMEA GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_COMPASS

No

Enable MSP Compass

MSP

MSP

No

Enable MSP Telemetry and MSP OSD

MSP

MSP_GPS

No

Enable MSP GPS

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_RANGEFINDER

No

Enable MSP Rangefinder

MSP

MSP_SENSORS

No

Enable MSP Sensors

MSP

MSP_DISPLAYPORT

No

Enable MSP DisplayPort OSD (aka CANVAS MODE)

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

OSD_SIDEBARS

No

Enable Scrolling Sidebars

OSD

PLUSCODE

No

Enable PlusCode

OSD

OSD

No

Enable OSD

OSD

OSD_PARAM

No

Enable OSD param

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

SOARING

No

Enable Soaring

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

FrSky SPort PassThrough

No

Enable FrSkySPort PassThrough Telemetry

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

CRSF

No

Enable CRSF Telemetry

Telemetry

CRSFText

No

Enable CRSF Text Param Selection

Telemetry

HOTT

No

Enable HOTT Telemetry

Telemetry

SPEKTRUM

No

Enable Spektrum Telemetry

VTX

SMARTAUDIO

No

Enable SmartAudio VTX Contol

VTX

TRAMP

No

Enable IRC Tramp VTX Control

CUAV-Nora

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CUAV-Nora-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CUAV-X7

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CUAV-X7-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CUAVv5

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CUAVv5-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CUAVv5Nano

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CUAVv5Nano-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeBlack

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeBlack+

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeOrange

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeOrange-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeOrangePlus

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeOrangePlus-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubePurple

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeRedPrimary

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK09916

No

Enable AK09916 compasses

Compass

AK8963

No

Enable AK8963 compasses

Compass

BMM150

No

Enable BMM150 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

HMC5843

No

Enable HMC5843 compasses

Compass

ICM20948

No

Enable AK09916 on ICM20948 compasses

Compass

IST8308

No

Enable IST8308 compasses

Compass

LIS3MDL

No

Enable LIS3MDL compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC3416

No

Enable MMC3416 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Compass

QMC5883L

No

Enable QMC5883L compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeRedSecondary

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeYellow

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

CubeYellow-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

DevEBoxH7v2

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK09916

No

Enable AK09916 compasses

Compass

AK8963

No

Enable AK8963 compasses

Compass

BMM150

No

Enable BMM150 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

HMC5843

No

Enable HMC5843 compasses

Compass

ICM20948

No

Enable AK09916 on ICM20948 compasses

Compass

IST8308

No

Enable IST8308 compasses

Compass

LIS3MDL

No

Enable LIS3MDL compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC3416

No

Enable MMC3416 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Compass

QMC5883L

No

Enable QMC5883L compasses

Compass

RM3100

No

Enable RM3100 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Telemetry

CRSFText

No

Enable CRSF Text Param Selection

VTX

TRAMP

No

Enable IRC Tramp VTX Control

DrotekP3Pro

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Durandal

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Durandal-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

F35Lightning

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

BOOTLOADER_FLASHING

No

Enable Bootloader flashing

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

F4BY

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP280

No

Enable BMP280 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MSP_BARO

No

Enable MSP Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Camera

RUNCAM

No

Enable RunCam Control

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_GPS

No

Enable NMEA GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_COMPASS

No

Enable MSP Compass

MSP

MSP

No

Enable MSP Telemetry and MSP OSD

MSP

MSP_GPS

No

Enable MSP GPS

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_RANGEFINDER

No

Enable MSP Rangefinder

MSP

MSP_SENSORS

No

Enable MSP Sensors

MSP

MSP_DISPLAYPORT

No

Enable MSP DisplayPort OSD (aka CANVAS MODE)

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

OSD_SIDEBARS

No

Enable Scrolling Sidebars

OSD

PLUSCODE

No

Enable PlusCode

OSD

OSD

No

Enable OSD

OSD

OSD_PARAM

No

Enable OSD param

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

SOARING

No

Enable Soaring

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

FrSky SPort PassThrough

No

Enable FrSkySPort PassThrough Telemetry

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

CRSF

No

Enable CRSF Telemetry

Telemetry

CRSFText

No

Enable CRSF Text Param Selection

Telemetry

HOTT

No

Enable HOTT Telemetry

Telemetry

SPEKTRUM

No

Enable Spektrum Telemetry

VTX

SMARTAUDIO

No

Enable SmartAudio VTX Contol

VTX

TRAMP

No

Enable IRC Tramp VTX Control

FlyingMoonF407

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP280

No

Enable BMP280 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MSP_BARO

No

Enable MSP Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Camera

RUNCAM

No

Enable RunCam Control

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_GPS

No

Enable NMEA GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_COMPASS

No

Enable MSP Compass

MSP

MSP

No

Enable MSP Telemetry and MSP OSD

MSP

MSP_GPS

No

Enable MSP GPS

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_RANGEFINDER

No

Enable MSP Rangefinder

MSP

MSP_SENSORS

No

Enable MSP Sensors

MSP

MSP_DISPLAYPORT

No

Enable MSP DisplayPort OSD (aka CANVAS MODE)

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

OSD_SIDEBARS

No

Enable Scrolling Sidebars

OSD

PLUSCODE

No

Enable PlusCode

OSD

OSD

No

Enable OSD

OSD

OSD_PARAM

No

Enable OSD param

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

SOARING

No

Enable Soaring

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

FrSky SPort PassThrough

No

Enable FrSkySPort PassThrough Telemetry

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

CRSF

No

Enable CRSF Telemetry

Telemetry

CRSFText

No

Enable CRSF Text Param Selection

Telemetry

HOTT

No

Enable HOTT Telemetry

Telemetry

SPEKTRUM

No

Enable Spektrum Telemetry

VTX

SMARTAUDIO

No

Enable SmartAudio VTX Contol

VTX

TRAMP

No

Enable IRC Tramp VTX Control

FlyingMoonF427

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

FlyingMoonH743

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

FlywooF745

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MS56XX

No

Enable MS56XX Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

BOOTLOADER_FLASHING

No

Enable Bootloader flashing

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

FlywooF745Nano

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MS56XX

No

Enable MS56XX Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

BOOTLOADER_FLASHING

No

Enable Bootloader flashing

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

fmuv2

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP280

No

Enable BMP280 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MSP_BARO

No

Enable MSP Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Camera

RUNCAM

No

Enable RunCam Control

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_GPS

No

Enable NMEA GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_COMPASS

No

Enable MSP Compass

MSP

MSP

No

Enable MSP Telemetry and MSP OSD

MSP

MSP_GPS

No

Enable MSP GPS

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_RANGEFINDER

No

Enable MSP Rangefinder

MSP

MSP_SENSORS

No

Enable MSP Sensors

MSP

MSP_DISPLAYPORT

No

Enable MSP DisplayPort OSD (aka CANVAS MODE)

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

OSD_SIDEBARS

No

Enable Scrolling Sidebars

OSD

PLUSCODE

No

Enable PlusCode

OSD

OSD

No

Enable OSD

OSD

OSD_PARAM

No

Enable OSD param

Other

BOOTLOADER_FLASHING

No

Enable Bootloader flashing

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

SOARING

No

Enable Soaring

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

FrSky SPort PassThrough

No

Enable FrSkySPort PassThrough Telemetry

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

CRSF

No

Enable CRSF Telemetry

Telemetry

CRSFText

No

Enable CRSF Text Param Selection

Telemetry

HOTT

No

Enable HOTT Telemetry

Telemetry

SPEKTRUM

No

Enable Spektrum Telemetry

VTX

SMARTAUDIO

No

Enable SmartAudio VTX Contol

VTX

TRAMP

No

Enable IRC Tramp VTX Control

fmuv3

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

fmuv5

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

FoxeerH743v1

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_NMPWU

No

Enable EFI NMPMU

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

HEEWING-F405

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP280

No

Enable BMP280 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

HEEWING-F405v2

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP280

No

Enable BMP280 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

Here4FC

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK09916

No

Enable AK09916 compasses

Compass

AK8963

No

Enable AK8963 compasses

Compass

BMM150

No

Enable BMM150 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

HMC5843

No

Enable HMC5843 compasses

Compass

ICM20948

No

Enable AK09916 on ICM20948 compasses

Compass

IST8308

No

Enable IST8308 compasses

Compass

LIS3MDL

No

Enable LIS3MDL compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC3416

No

Enable MMC3416 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Compass

QMC5883L

No

Enable QMC5883L compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

JFB100

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

JFB110

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED

No

Enable old REQUEST_AUTOPILOT_CAPABILITIES command

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MSP

MSP_SENSORS

No

Enable MSP Sensors

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

Other

CUSTOM_ROTATIONS

No

Enable Custom Rotations

Other

Logging

No

Enable Logging

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

KakuteF4

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MS56XX

No

Enable MS56XX Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

KakuteF4Mini

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

BMP085

No

Enable BMP085 Barometric Sensor

Baro

BMP388

No

Enable BMP388 Barometric Sensor

Baro

DPS280

No

Enable DPS280/DPS310 Barometric Sensor

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

FBM320

No

Enable FBM320 Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

LPS2XH

No

Enable LPS2XH Barometric Sensor

Baro

MS56XX

No

Enable MS56XX Barometric Sensor

Baro

SPL06

No

Enable SPL06 Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

PARACHUTE

No

Enable Parachute

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

KakuteF7

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_SMBUS

No

Enable SMBUS BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No

Enable NOVA GPS

GPS Drivers

SBF

No

Enable SBF GPS

GPS Drivers

SBP2

No

Enable SBP2 GPS

GPS Drivers

SBP

No

Enable SBP GPS

GPS Drivers

SIRF

No

Enable SiRF GPS

Generator

GENERATOR_IE2400

No

Enable IntelligentEnergy 2400

Generator

GENERATOR_IE650

No

Enable IntelligentEnergy 650 and 800 support

Generator

GENERATOR_RICHENPOWER

No

Enable Richenpower Generator

Generator

GENERATOR

No

Enable Generator

Gimbal

ALEXMOS

No

Enable Alexmos Gimbal

Gimbal

MOUNT

No

Enable Mount

Gimbal

GREMSY

No

Enable Gremsy Gimbal

Gimbal

SERVO

No

Enable Servo Gimbal

Gimbal

SIYI

No

Enable Siyi Gimbal

Gimbal

STORM32_MAVLINK

No

Enable SToRM32 MAVLink Gimbal

Gimbal

STORM32_SERIAL

No

Enable SToRM32 Serial Gimbal

Gimbal

VIEWPRO

No

Enable Viewpro Gimbal

Gimbal

XACTI

No

Enable Xacti Gimbal

Gimbal

SOLOGIMBAL

No

Enable Solo Gimbal

ICE

EFI_CURRAWONGECU

No

Enable EFI Currawong ECU

ICE

EFI_DRONECAN

No

Enable EFI DroneCAN

ICE

EFI_MAV

No

Enable EFI MAV

ICE

EFI_NMPWU

No

Enable EFI NMPMU

ICE

EFI_HIRTH

No

Enable EFI Hirth ECU

ICE

EFI_Lutan

No

Enable EFI Lutan

ICE

EFI_MegaSquirt

No

Enable EFI MegaSquirt

ICE

ICE Engine

No

Enable Internal Combustion Engine support

ICE

EFI

No

Enable EFI Monitoring

Ident

AIS

No

Enable AIS

Ident

OpenDroneID

No

Enable OpenDroneID (Remote ID)

Ident

ADSB

No

Enable ADSB

Ident

ADSB_SAGETECH

No

Enable Sagetech ADSB

Ident

ADSB_SAGETECH_MXS

No

Enable Sagetech MXS ADSB

Ident

ADSB_UAVIONIX

No

Enable UAvionix ADSB

Ident

ADSB_UAVIONX_UCP

No

Enable uAvionix UCP ADSB

MAVLink

AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED

No

Enable old AUTOPILOT_VERSION_REQUEST mesage

MAVLink

AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED

No

Enable handling of MISSION_REQUEST mavlink messages

MAVLink

AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED

No

Enable handling of deprecated MOUNT_CONFIGURE message

MAVLink

AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED

No

Enable handling of deprecated MOUNT_CONTROL message

MAVLink

AP_MAVLINK_MSG_RELAY_STATUS_ENABLED

No

Enable sending of RELAY_STATUS message

MAVLink

HIGHLAT2

No

Enable HighLatency2 Support

MSP

MSP_OPTICALFLOW

No

Enable MSP OpticalFlow

MSP

MSP_SENSORS

No

Enable MSP Sensors

Mission

AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED

No

Enable handling of NAV_PAYLOAD_PLACE mission items

Networking

PPP Support

No

Enable PPP networking

Notify

NOTIFY_NCP5623

No

Enable NCP5623 LED

Notify

NOTIFY_PROFILED_SPI

No

Enable ProfiLED (SPI)

OSD

PLUSCODE

No

Enable PlusCode

Other

BOOTLOADER_FLASHING

No

Enable Bootloader flashing

Other

SLCAN

No

Enable SLCAN serial protocol

Other

DRONECAN_SERIAL

No

Enable DroneCAN virtual serial ports

Other

SCRIPTING

No

Enable LUA Scripting

Other

SDCARD_MISSION

No

Enable storing mission on microSD cards

Other

DISPLAY

No

Enable I2C Displays

Other

GyroFFT

No

Enable In-Flight Gyro FFT calculations

Other

Logging

No

Enable Logging

Other

NMEA_OUTPUT

No

Enable NMEA Output

Payload

GRIPPER

No

Enable Gripper

Payload

LANDING_GEAR

No

Enable Landing Gear

Payload

WINCH

No

Enable Winch

Payload

SPRAYER

No

Enable Sprayer

Plane

ADVANCED_FAILSAFE

No

Enable Advanced Failsafe features

Plane

PLANE_BLACKBOX

No

Enable blackbox logging

Plane

DEEPSTALL

No

Enable Deepstall Landing

Plane

QAUTOTUNE

No

Enable QuadPlane Autotune mode

Precision Landing

PrecLand - Companion

No

Enable Companion-Supported Precision Landing support

Precision Landing

PrecLand

No

Enable Precision Landing support

Precision Landing

PrecLand - IRLock

No

Enable IRLock-Supported Precision Landing support

Proximity

PROXIMITY_CYGBOT

No

Enable Cygbot D1 Proximity Sensors

Proximity

PROXIMITY_DRONECAN

No

Enable DroneCAN Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF40C

No

Enable LightWare SF40C Proximity Sensors

Proximity

PROXIMITY_LIGHTWARE_SF45B

No

Enable LightWare SF45B Proximity Sensors

Proximity

PROXIMITY_MAV

No

Enable MAVLink Proximity Sensors

Proximity

PROXIMITY_RANGEFINDER

No

Use RangeFinders as proximity sensors

Proximity

PROXIMITY_RPLIDARA2

No

Enable RPLidarA2 Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWEREVO

No

Enable TerraRangerTower Evo Proximity Sensors

Proximity

PROXIMITY_TERRARANGERTOWER

No

Enable TerraRangerTower Proximity Sensors

Proximity

PROXIMITY

No

Enable Proximity

RC

RC_PPMSUM

No

Enable PPMSum Protocol

Rangefinder

RANGEFINDER_BENEWAKE_CAN

No

Enable Rangefinder - Benewake (CAN)

Rangefinder

RANGEFINDER_DRONECAN

No

Enable Rangefinder - DroneCAN

Rangefinder

RANGEFINDER_JRE_SERIAL

No

Enable Rangefinder - JRE_SERIAL

Rangefinder

RANGEFINDER_LUA

No

Enable Rangefinder - Lua Scripting

Rangefinder

RANGEFINDER_NOOPLOOP

No

Enable Rangefinder - Nooploop TOF P/F

Rangefinder

RANGEFINDER_NRA24_CAN

No

Enable Rangefinder - NRA24 CAN

Rangefinder

RANGEFINDER_TOFSF_I2C

No

Enable Rangefinder - ToFSense-F I2C

Rangefinder

RANGEFINDER_TOFSP_CAN

No

Enable Rangefinder - ToFSense-P CAN

Rangefinder

RANGEFINDER_USD1_CAN

No

Enable Rangefinder - USD1 (CAN)

Safety

AC_AVOID

No

Enable Avoidance

Safety

AC_OAPATHPLANNER

No

Enable Object Avoidance Path Planner

Safety

PARACHUTE

No

Enable Parachute

Safety

RALLY

No

Enable Rally Points

Sensors

BEACON

No

Enable Beacon

Sensors

OPTICALFLOW_CXOF

No

Enable Optical flow CXOF Sensor

Sensors

OPTICALFLOW

No

Enable Optical Flow

Sensors

OPTICALFLOW_HEREFLOW

No

Enable Optical flow HereFlow Sensor

Sensors

OPTICALFLOW_MAV

No

Enable Optical flow MAVLink Sensor

Sensors

OPTICALFLOW_ONBOARD

No

Enable Optical flow ONBOARD Sensor

Sensors

OPTICALFLOW_PIXART

No

Enable Optical flow PIXART Sensor

Sensors

OPTICALFLOW_PX4FLOW

No

Enable Optical flow PX4FLOW Sensor

Sensors

OPTICALFLOW_UPFLOW

No

Enable Optical flow UPFLOW Sensor

Sensors

RPM_EFI

No

Enable RPM EFI sensors

Sensors

RPM_GENERATOR

No

Enable Generator RPM sensors

Sensors

IMU_ON_UART

No

Enable sending raw IMU data on a serial port

Sensors

TEMP

No

Enable Temperature Sensors

Sensors

TEMP_MCP9600

No

Enable Temp Sensor - MCP9600

Sensors

TEMP_TSYS01

No

Enable Temp Sensor - TSYS01

Sensors

TEMP_TSYS03

No

Enable Temp Sensor - TSYS03

Sensors

GPS_MOVING_BASELINE

No

Enable GPS Moving Baseline

Telemetry

LTM

No

Enable LTM Telemetry

Telemetry

AUX_FUNCTION_STRINGS

No

Enable Auxilliary Function activation text

Telemetry

HOTT

No

Enable HOTT Telemetry

VTOL Frame

DECA

No

DECA

VTOL Frame

DODECAHEXA

No

DODECAHEXA

VTOL Frame

OCTAQUAD

No

OCTAQUAD

VTOL Frame

Y6

No

Y6

KakuteF7-bdshot

Category

Feature

Included

Description

AHRS

AHRS_EXT_MICROSTRAIN5

No

Enable MICROSTRAIN 5-series External AHRS

AHRS

AHRS_EXT_MICROSTRAIN7

No

Enable MICROSTRAIN 7-series External AHRS

AHRS

AHRS_EXT_VECTORNAV

No

Enable VectorNav External AHRS

AHRS

EKF3_WINDEST

No

Enable Wind Estimation for EKF3

AHRS

EKF3_EXTNAV

No

Enable External Navigation for EKF3

AHRS

AHRS_EXT

No

Enable External AHRS

AHRS

TEMPCAL

No

Enable IMU Temperature Calibration

AHRS

EKF2

No

Enable EKF2

AHRS

VISUALODOM

No

Enable Visual Odometry

AP_Periph

LONG_TEXT

No

Enable extended length text strings

Actuators

HimarkServo

No

Enable Himark DroneCAN servos

Actuators

HobbywingESC

No

Enable Hobbywing DroneCAN ESCs

Actuators

Volz_DroneCAN

No

Enable Volz DroneCAN Feedback

Actuators

FETTecOneWire

No

Enable FETTec OneWire ESCs

Actuators

KDECAN

No

KDE Direct KDECAN ESC

Actuators

RobotisServo

No

Enable RobotisServo Protocol

Actuators

SBUS Output

No

Enable SBUS Output on serial ports

Actuators

Volz

No

Enable Volz Protocol

Airspeed Drivers

DLVR

No

ENABLE DLVR AIRSPEED

Airspeed Drivers

DRONECAN_ASPD

No

ENABLE DroneCAN AIRSPEED

Airspeed Drivers

MSP_AIRSPEED

No

ENABLE MSP AIRSPEED

Airspeed Drivers

NMEA_AIRSPEED

No

ENABLE NMEA AIRSPEED

Baro

DRONECAN_BARO

No

Enable DroneCAN Barometric Sensor

Baro

DUMMY

No

Enable DUMMY Barometric Sensor

Baro

EXTERNALAHRS

No

Enable EXTERNALAHRS Barometric Sensor

Baro

ICM20789

No

Enable ICM20789 Barometric Sensor

Baro

ICP101XX

No

Enable ICP101XX Barometric Sensor

Baro

ICP201XX

No

Enable ICP201XX Barometric Sensor

Baro

KELLERLD

No

Enable KELLERLD Barometric Sensor

Baro

BARO_TEMPCAL

No

Enable Baro Temperature Calibration

Baro

BARO_WIND_COMP

No

Enable Baro Wind Compensation

Battery

BATTERY_ESC_TELEM_OUTBOUND_ENABLED

No

Enable ability to put battery monitor data in ESC telem stream

Battery

BATTERY_FUELFLOW

No

Enable Fuel Flow BatteryMonitor

Battery

BATTERY_FUELLEVEL_ANALOG

No

Enable Flow Level Analog BattryMonitor

Battery

BATTERY_FUELLEVEL_PWM

No

Enable Flow Level PWM BatteryMonitor

Battery

BATTERY_INA2XX

No

Enable INA2XX BatteryMonitor

Battery

BATTERY_SMBUS

No

Enable SMBUS BatteryMonitor

Battery

BATTERY_WATT_MAX

No

Enable param BATT_WATT_MAX

Camera

Camera_MAVLinkCamV2

No

Enable MAVLink CameraV2 support

Camera

Camera_MAVLink

No

Enable MAVLink Camera support

Camera

Camera_Mount

No

Enable Camera-in-Mount support

Camera

Camera_FOV_Status

No

Enable Camera FOV Status send to GCS

Camera

Camera_Solo

No

Enable Solo Gimbal support

Compass

AK8963

No

Enable AK8963 compasses

Compass

FixedYawCal

No

Enable Fixed-Yaw Compass Calibration

Compass

DRONECAN_COMPASS

No

Enable DroneCAN compasses

Compass

EXTERNALAHRS_COMPASS

No

Enable ExternalAHRS compasses

Compass

LSM303D

No

Enable LSM303D compasses

Compass

LSM9DS1

No

Enable LSM9DS1 compasses

Compass

MAG3110

No

Enable MAG3110 compasses

Compass

MMC5XX3

No

Enable MMC5XX3 compasses

Copter

AC_PAYLOAD_PLACE_ENABLED

No

Enable Payload Place flight behaviour

Copter

MODE_BRAKE

No

Enable Mode Brake

Copter

MODE_FLIP

No

Enable Mode Flip

Copter

MODE_FLOWHOLD

No

Enable Mode Flowhold

Copter

MODE_FOLLOW

No

Enable Mode Follow

Copter

MODE_GUIDED_NOGPS

No

Enable Mode Guided NoGPS

Copter

MODE_SPORT

No

Enable Mode Sport

Copter

MODE_SYSTEMID

No

Enable Mode SystemID

Copter

MODE_TURTLE

No

Enable Mode Turtle

Copter

MODE_ZIGZAG

No

Enable Mode ZigZag

Developer

CRASHCATCHER

No

Enable CrashCatcher

Developer

KILL_IMU

No

Allow IMUs to be disabled at runtime

ESC

PICCOLOCAN

No

Enable PiccoloCAN

ESC

TORQEEDO

No

Enable Torqeedo Motors

Filesystem

APJ_TOOL_PARAMETERS

No

Enable apj_tool parameter area

GPS Drivers

DroneCAN_Out

No

Enable Sending GPS from Autopilot

GPS Drivers

ERB

No

Enable ERB GPS

GPS Drivers

GSOF

No

Enable GSOF GPS

GPS Drivers

MAV

No

Enable MAVLink GPS

GPS Drivers

NMEA_UNICORE

No

Enable NMEA Unicore GPS

GPS Drivers

NOVA

No