Future Wiki Changes (in Master branch now)

on Team Black Sheep RC Systems page, add a section on ELRS:

ELRS can be setup in the same manner as CRSF, however, bit 13 of RC_OPTIONS should be set to alter the baudrate from 416KBaud that CRSF uses, to 420KBaud that ELRS uses.

add UM982 Moving Baseline GPS:

see : https://github.com/ArduPilot/ardupilot_wiki/pull/4967

on Auxiliary Functions, add:

RCx_OPTION value

Feature Description








Compass Calibration




Option Description
Compass Calibration

Switching to high will behave the same as if the Start button for onboard calibration had been pressed. Returning the switch to low will cancel the calibration if still in progress.

on Compass Calibration page:

change content of Onboard Calibration using Stick Gestures (no GCS) section to be started by RC switch (171) instead of stick gestures.

on Downloading and Analyzing Data Logs in Mission Planner page:

under Logging Parameters, change:

  • LOG_DISARMED: Setting to one will start logging when power is applied, rather than at the first arming of the vehicle. Usefull when debugging pre-arm failures.


  • LOG_DISARMED: Setting to 1 will start logging when power is applied, rather than at the first arming of the vehicle. Usefull when debugging pre-arm failures. Setting to 2 will only log on power application other than USB power to prevent logging while setting up on the bench.

on Battery Monitors (aka Power Monitors/Modules), add:

add a new section:

EFI Fuel Monitoring, See Electronic Fuel Injectors section on using BATT_MONITOR = 27 (EFI).

on Electronic Fuel Injectors page add section:

Using a Battery Monitor to Report Fuel Flow and Consumption

If an EFI is used in the system, either thru a LUA driver or the built-in drivers above, the fuel flow and consumption can be monitored using BATT_MONITOR = 27. The fuel flow in liters/hour will be reported as amps, while the fuel consumed in milliliters will be reported as mah.


the MAVLink command to reset the fuel consumed does not work with this monitor.

on DroneCAN Setup, Mission Planner Initial SETUP, SLCAN Access on F4 based Autopilots, and SLCAN Access on F7/H7 Based Autopilots pages add the following note:


SLCAN access via COM port is disabled when armed to lower cpu load. Use SLCAN via MAVLink instead.

on External AHRS Systems add:

under Supported Systems add:

  • VectorNav VN-100AHRS

under Setup replace with:

VectorNav300 or Parker Lord

This will replace ArduPilot’s internally generated INS/AHRS subsystems with the external system


  • AHRS_EKF_TYPE = 3 (ArduPilot’s EKF3)

  • EAHRS_TYPE = 1 (VectorNAV)

  • EAHRS_OPTIONS bit 0 set to 1 (“1” value) to disable its compensation of the sensor biases, letting EKF3 do that (since there is no internal GPS to provide the best estimates)

  • for all of the above, set the SERIALx_PROTOCOL to “36” (AHRS) and SERIALx_BAUD to “115” (unless you have changed the external unit’s baud rate from its default value) for the port which is connected to the external AHRS unit.

on Electronic Fuel Injectors page, add:

In addition, ArduPilot allows the addition of new EFI controller drivers via Lua Scripts. For examples, see the HFE CAN EFI driver or the SkyPower CAN driver

on RunCam Camera Support page, under Setup, add:

For RunCam2 4K camera, set CAM_RC_TYPE = 5.

on Automatic Takeoff page, add at bottom a new section:

Catapult Launch without an Airspeed Sensor

Taking off without an airspeed sensor using a catapult may cause less than maximum throttle to be used due to high initial climb rates. For heavy vehicles, this may result in a stall due to the long time constants used in TECS to adjust throttle after the initial launch. The parameter TKOFF_THR_MAX_T can be used to force maximum throttle for a time, irrespective of climb rates from an initial catapult launch to allow the vehicle to obtain sufficient speed.

on ACRO Mode page, in section “Acro Locking”, add:

It is recommended that it be set to “2”, instead of “1”, in order to use a quarternion based control system with much better performance than the older system. In order for this to be effective, yaw rate control (YAW_RATE_ENABLE) must be “1” and the yaw rate controller tuned using Autotune for best performance.

on the Automatic Tuning with AUTOTUNE page:

add in the setup section:

The AUTOTUNE_AXES bitmask selects which axes will be tuned while in Autotune. Default is roll, pitch and yaw.

remove in the setup section:

Tuning the yaw axis can only be done in AUTOTUNE mode, or using the RCx_OPTION switch set to 107, but only in ACRO mode with YAW_RATE_ENABLE = 1.

remove in Acro Mode Yaw Rate Controller section:

Autotuning YAW can also be done in ACRO mode using an auxiliary switch set with the RCx_OPTION to 107.

change note in the YAW Controller section to:


while AutoTuning with this controller enabled, roll inputs will result in yaw outputs also, allowing more coordinated turns with the yaw controller active. This will normally result in simultaneously tuning the yaw controller with the roll controller, but not necessarily completing the yaw tune when the roll tune finishes. Also, there may be seemingly excessive rudder applied initially in the roll tune on vehicles with large yaw authority, until the tune progresses.

On Plane Failsafe Function page:

Add note to Battery Failsafe Section:


the battery low failsafe voltage must be higher than the battery critical failsafe voltage or a pre-arm error will occur.

On Automatic Landing page, under Controlling the Flare:

The landing controller sets a point before the touchdown as the expected flare start point. This “flare_aim” point is calculated from the LAND_FLARE_ALT and TECS_LAND_SINK for the expected duration of the flare before the actual touchdown. If consistently landing long or short, this point can be adjusted using the :ref:` TECS_FLARE_AIM<TECS_FLARE_AIM>` parameter. If landing too short, decrease the percentage from its default of 50%, conversely, increasing it if landing too long.

The transition from the glide-slope sink rate to the flare sink rate is controlled by the TECS_FLARE_HGT parameter. The start of the flare will occur at LAND_FLARE_ALT and the sink rate will be gradually adjusted to TECS_LAND_SINK at the TECS_FLARE_HGT to avoid a rapid pitch change at the beginning of the flare, which would tend to create a “ballooning” effect at the start of the flare. TECS_FLARE_HGT should be lower than LAND_FLARE_ALT.

On Precision AutoLanding page, under the Approach Airspeed section, add:

The LAND_WIND_COMP parameter controls how much headwind compensation is used when landing. Headwind speed component multiplied by this parameter is added to TECS_LAND_ARSPD value. Set to 0 to disable this.


The target landing airspeed value is still limited to being lower than ARSPD_FBW_MAX.