Notification Device Configuration

ArduPilot provides the ability to notify users visually and/or aurally, of important status information and warnings. These can be provided on-board or externally via several types of devices: single color LEDs, RGB LEDS, OLED displays , and Buzzers .

LED and LED Display Configuration

LED indication meanings are explained in the LEDs Meaning section.


In order to use any of these, they must be selected using the NTF_LED_TYPES bitmask for which devices are being used in the system:

Bit Bit Meaning
0 Built in LED(s) (always on-board)
1 Internal ToshibaLED
2 External ToshibaLED I2C
3 External PCA9685 on I2C
4 Oreo LED (Solo specific)
5 DroneCAN
6 NCP5623 External I2C
7 NCP5623 Internal
8 NeoPixel string **
9 ProfiLED
** Neopixel strings are attached via an output selected to have one of the Neopixel SERVOx_FUNCTIONs. Up to four outputs can be designated for Neopixel strings.

The brightness of the LEDs can be controlled via the NTF_LED_BRIGHT parameter.

OLED Displays

In addition, two I2C connected OLED Displays are supported which display key autopilot status and status text messages: SSH1106 and SSD1306 compatible displays. These will display the text messages normally sent to a Ground Control Station, as well as some status information.


These are enabled via the NTF_DISPLAY_TYPE parameter.


Buzzers can provide aural indications of status and warnings. Examples for a external piezo buzzer used with a Pixhawk are given here .

Several parameters are associated with buzzers for configuration and are detailed in the Buzzer (aka Tone Alarm) section.