Complete Parameter List¶
Full Parameter List of Plane stable V4.2.1
You can change and check the parameters for another version:
This is a complete list of the parameters which can be set (e.g. via the MAVLink protocol) to control vehicle behaviour. They are stored in persistent storage on the vehicle.
This list is automatically generated from the latest ardupilot source code, and so may contain parameters which are not yet in the stable released versions of the code.
ArduPlane Parameters¶
FORMAT_VERSION: Eeprom format version number¶
This value is incremented when changes are made to the eeprom format
SYSID_THISMAV: MAVLink system ID of this vehicle¶
Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network
Range |
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1 - 255 |
SYSID_MYGCS: Ground station MAVLink system ID¶
The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match.
Range |
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1 - 255 |
AUTOTUNE_LEVEL: Autotune level¶
Level of aggressiveness of pitch and roll PID gains. Lower values result in a 'softer' tune. Level 6 recommended for most planes. A value of 0 means to keep the current values of RMAX and TCONST for the controllers, tuning only the PID values
Increment |
Range |
---|---|
1 |
0 - 10 |
TELEM_DELAY: Telemetry startup delay¶
The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up
Increment |
Range |
Units |
---|---|---|
1 |
0 - 30 |
seconds |
GCS_PID_MASK: GCS PID tuning mask¶
bitmask of PIDs to send MAVLink PID_TUNING messages for
Bitmask |
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KFF_RDDRMIX: Rudder Mix¶
Amount of rudder to add during aileron movement. Increase if nose initially yaws away from roll. Reduces adverse yaw.
Increment |
Range |
---|---|
0.01 |
0 - 1 |
KFF_THR2PTCH: Throttle to Pitch Mix¶
Pitch up to add in proportion to throttle. 100% throttle will add this number of degrees to the pitch target.
Increment |
Range |
---|---|
0.01 |
0 - 5 |
STAB_PITCH_DOWN: Low throttle pitch down trim¶
Degrees of down pitch added when throttle is below TRIM_THROTTLE in FBWA and AUTOTUNE modes. Scales linearly so full value is added when THR_MIN is reached. Helps to keep airspeed higher in glides or landing approaches and prevents accidental stalls. 2 degrees recommended for most planes.
Increment |
Range |
Units |
---|---|---|
0.1 |
0 - 15 |
degrees |
GLIDE_SLOPE_MIN: Glide slope minimum¶
This controls the minimum altitude change for a waypoint before a glide slope will be used instead of an immediate altitude change. The default value is 15 meters, which helps to smooth out waypoint missions where small altitude changes happen near waypoints. If you don't want glide slopes to be used in missions then you can set this to zero, which will disable glide slope calculations. Otherwise you can set it to a minimum number of meters of altitude error to the destination waypoint before a glide slope will be used to change altitude.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 1000 |
meters |
GLIDE_SLOPE_THR: Glide slope threshold¶
This controls the height above the glide slope the plane may be before rebuilding a glide slope. This is useful for smoothing out an autotakeoff
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
meters |
STICK_MIXING: Stick Mixing¶
When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing.
Values |
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TKOFF_THR_MINSPD: Takeoff throttle min speed¶
Minimum GPS ground speed in m/s used by the speed check that un-suppresses throttle in auto-takeoff. This can be be used for catapult launches where you want the motor to engage only after the plane leaves the catapult, but it is preferable to use the TKOFF_THR_MINACC and TKOFF_THR_DELAY parameters for catapult launches due to the errors associated with GPS measurements. For hand launches with a pusher prop it is strongly advised that this parameter be set to a value no less than 4 m/s to provide additional protection against premature motor start. Note that the GPS velocity will lag the real velocity by about 0.5 seconds. The ground speed check is delayed by the TKOFF_THR_DELAY parameter.
Increment |
Range |
Units |
---|---|---|
0.1 |
0 - 30 |
meters per second |
TKOFF_THR_MINACC: Takeoff throttle min acceleration¶
Minimum forward acceleration in m/s/s before arming the ground speed check in auto-takeoff. This is meant to be used for hand launches. Setting this value to 0 disables the acceleration test which means the ground speed check will always be armed which could allow GPS velocity jumps to start the engine. For hand launches and bungee launches this should be set to around 15. Also see TKOFF_ACCEL_CNT paramter for control of full "shake to arm".
Increment |
Range |
Units |
---|---|---|
0.1 |
0 - 30 |
meters per square second |
TKOFF_THR_DELAY: Takeoff throttle delay¶
This parameter sets the time delay (in 1/10ths of a second) that the ground speed check is delayed after the forward acceleration check controlled by TKOFF_THR_MINACC has passed. For hand launches with pusher propellers it is essential that this is set to a value of no less than 2 (0.2 seconds) to ensure that the aircraft is safely clear of the throwers arm before the motor can start. For bungee launches a larger value can be used (such as 30) to give time for the bungee to release from the aircraft before the motor is started.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 127 |
deciseconds |
TKOFF_TDRAG_ELEV: Takeoff tail dragger elevator¶
This parameter sets the amount of elevator to apply during the initial stage of a takeoff. It is used to hold the tail wheel of a taildragger on the ground during the initial takeoff stage to give maximum steering. This option should be combined with the TKOFF_TDRAG_SPD1 option and the GROUND_STEER_ALT option along with tuning of the ground steering controller. A value of zero means to bypass the initial "tail hold" stage of takeoff. Set to zero for hand and catapult launch. For tail-draggers you should normally set this to 100, meaning full up elevator during the initial stage of takeoff. For most tricycle undercarriage aircraft a value of zero will work well, but for some tricycle aircraft a small negative value (say around -20 to -30) will apply down elevator which will hold the nose wheel firmly on the ground during initial acceleration. Only use a negative value if you find that the nosewheel doesn't grip well during takeoff. Too much down elevator on a tricycle undercarriage may cause instability in steering as the plane pivots around the nosewheel. Add down elevator 10 percent at a time.
Increment |
Range |
Units |
---|---|---|
1 |
-100 - 100 |
percent |
TKOFF_TDRAG_SPD1: Takeoff tail dragger speed1¶
This parameter sets the airspeed at which to stop holding the tail down and transition to rudder control of steering on the ground. When TKOFF_TDRAG_SPD1 is reached the pitch of the aircraft will be held level until TKOFF_ROTATE_SPD is reached, at which point the takeoff pitch specified in the mission will be used to "rotate" the pitch for takeoff climb. Set TKOFF_TDRAG_SPD1 to zero to go straight to rotation. This should be set to zero for hand launch and catapult launch. It should also be set to zero for tricycle undercarriages unless you are using the method above to genetly hold the nose wheel down. For tail dragger aircraft it should be set just below the stall speed.
Increment |
Range |
Units |
---|---|---|
0.1 |
0 - 30 |
meters per second |
TKOFF_ROTATE_SPD: Takeoff rotate speed¶
This parameter sets the airspeed at which the aircraft will "rotate", setting climb pitch specified in the mission. If TKOFF_ROTATE_SPD is zero then the climb pitch will be used as soon as takeoff is started. For hand launch and catapult launches a TKOFF_ROTATE_SPD of zero should be set. For all ground launches TKOFF_ROTATE_SPD should be set above the stall speed, usually by about 10 to 30 percent
Increment |
Range |
Units |
---|---|---|
0.1 |
0 - 30 |
meters per second |
TKOFF_THR_SLEW: Takeoff throttle slew rate¶
This parameter sets the slew rate for the throttle during auto takeoff. When this is zero the THR_SLEWRATE parameter is used during takeoff. For rolling takeoffs it can be a good idea to set a lower slewrate for takeoff to give a slower acceleration which can improve ground steering control. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on takeoff. Values below 20 are not recommended as they may cause the plane to try to climb out with too little throttle. A value of -1 means no limit on slew rate in takeoff.
Increment |
Range |
Units |
---|---|---|
1 |
-1 - 127 |
percent per second |
TKOFF_PLIM_SEC: Takeoff pitch limit reduction¶
This parameter reduces the pitch minimum limit of an auto-takeoff just a few seconds before it reaches the target altitude. This reduces overshoot by allowing the flight controller to start leveling off a few seconds before reaching the target height. When set to zero, the mission pitch min is enforced all the way to and through the target altitude, otherwise the pitch min slowly reduces to zero in the final segment. This is the pitch_min, not the demand. The flight controller should still be commanding to gain altitude to finish the takeoff but with this param it is not forcing it higher than it wants to be.
Increment |
Range |
Units |
---|---|---|
0.5 |
0 - 10 |
seconds |
TKOFF_FLAP_PCNT: Takeoff flap percentage¶
The amount of flaps (as a percentage) to apply in automatic takeoff
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
LEVEL_ROLL_LIMIT: Level flight roll limit¶
This controls the maximum bank angle in degrees during flight modes where level flight is desired, such as in the final stages of landing, and during auto takeoff. This should be a small angle (such as 5 degrees) to prevent a wing hitting the runway during takeoff or landing. Setting this to zero will completely disable heading hold on auto takeoff and final landing approach.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 45 |
degrees |
USE_REV_THRUST: Bitmask for when to allow negative reverse thrust¶
This controls when to use reverse thrust. If set to zero then reverse thrust is never used. If set to a non-zero value then the bits correspond to flight stages where reverse thrust may be used. The most commonly used value for USE_REV_THRUST is 2, which means AUTO_LAND only. That enables reverse thrust in the landing stage of AUTO mode. Another common choice is 1, which means to use reverse thrust in all auto flight stages. Reverse thrust is always used in MANUAL mode if enabled with THR_MIN < 0. In non-autothrottle controlled modes, if reverse thrust is not used, then THR_MIN is effectively set to 0 for that mode.
Bitmask |
Values |
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ALT_OFFSET: Altitude offset¶
This is added to the target altitude in automatic flight. It can be used to add a global altitude offset to a mission
Increment |
Range |
Units |
---|---|---|
1 |
-32767 - 32767 |
meters |
WP_RADIUS: Waypoint Radius¶
Defines the maximum distance from a waypoint that when crossed indicates the waypoint may be complete. To avoid the aircraft looping around the waypoint in case it misses by more than the WP_RADIUS an additional check is made to see if the aircraft has crossed a "finish line" passing through the waypoint and perpendicular to the flight path from the previous waypoint. If that finish line is crossed then the waypoint is considered complete. Note that the navigation controller may decide to turn later than WP_RADIUS before a waypoint, based on how sharp the turn is and the speed of the aircraft. It is safe to set WP_RADIUS much larger than the usual turn radius of your aircraft and the navigation controller will work out when to turn. If you set WP_RADIUS too small then you will tend to overshoot the turns.
Increment |
Range |
Units |
---|---|---|
1 |
1 - 32767 |
meters |
WP_MAX_RADIUS: Waypoint Maximum Radius¶
Sets the maximum distance to a waypoint for the waypoint to be considered complete. This overrides the "cross the finish line" logic that is normally used to consider a waypoint complete. For normal AUTO behaviour this parameter should be set to zero. Using a non-zero value is only recommended when it is critical that the aircraft does approach within the given radius, and should loop around until it has done so. This can cause the aircraft to loop forever if its turn radius is greater than the maximum radius set.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 32767 |
meters |
WP_LOITER_RAD: Waypoint Loiter Radius¶
Defines the distance from the waypoint center, the plane will maintain during a loiter. If you set this value to a negative number then the default loiter direction will be counter-clockwise instead of clockwise.
Increment |
Range |
Units |
---|---|---|
1 |
-32767 - 32767 |
meters |
RTL_RADIUS: RTL loiter radius¶
Defines the radius of the loiter circle when in RTL mode. If this is zero then WP_LOITER_RAD is used. If the radius is negative then a counter-clockwise is used. If positive then a clockwise loiter is used.
Increment |
Range |
Units |
---|---|---|
1 |
-32767 - 32767 |
meters |
STALL_PREVENTION: Enable stall prevention¶
Enables roll limits at low airspeed in roll limiting flight modes. Roll limits based on aerodynamic load factor in turns and scale on ARSPD_FBW_MIN that must be set correctly. Without airspeed sensor, uses synthetic airspeed from wind speed estimate that may both be inaccurate.
Values |
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ARSPD_FBW_MIN: Minimum Airspeed¶
Minimum airspeed demanded in automatic throttle modes. Should be set to 20% higher than level flight stall speed.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 100 |
meters per second |
ARSPD_FBW_MAX: Maximum Airspeed¶
Maximum airspeed demanded in automatic throttle modes. Should be set slightly less than level flight speed at THR_MAX and also at least 50% above ARSPD_FBW_MIN to allow for accurate TECS altitude control.
Increment |
Range |
Units |
---|---|---|
1 |
5 - 100 |
meters per second |
FBWB_ELEV_REV: Fly By Wire elevator reverse¶
Reverse sense of elevator in FBWB and CRUISE modes. When set to 0 up elevator (pulling back on the stick) means to lower altitude. When set to 1, up elevator means to raise altitude.
Values |
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TERRAIN_FOLLOW: Use terrain following¶
This enables terrain following for CRUISE mode, FBWB mode, RTL and for rally points. To use this option you also need to set TERRAIN_ENABLE to 1, which enables terrain data fetching from the GCS, and you need to have a GCS that supports sending terrain data to the aircraft. When terrain following is enabled then CRUISE and FBWB mode will hold height above terrain rather than height above home. In RTL the return to launch altitude will be considered to be a height above the terrain. Rally point altitudes will be taken as height above the terrain. This option does not affect mission items, which have a per-waypoint flag for whether they are height above home or height above the terrain. To use terrain following missions you need a ground station which can set the waypoint type to be a terrain height waypoint when creating the mission.
Bitmask |
Values |
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TERRAIN_LOOKAHD: Terrain lookahead¶
This controls how far ahead the terrain following code looks to ensure it stays above upcoming terrain. A value of zero means no lookahead, so the controller will track only the terrain directly below the aircraft. The lookahead will never extend beyond the next waypoint when in AUTO mode.
Range |
Units |
---|---|
0 - 10000 |
meters |
FBWB_CLIMB_RATE: Fly By Wire B altitude change rate¶
This sets the rate in m/s at which FBWB and CRUISE modes will change its target altitude for full elevator deflection. Note that the actual climb rate of the aircraft can be lower than this, depending on your airspeed and throttle control settings. If you have this parameter set to the default value of 2.0, then holding the elevator at maximum deflection for 10 seconds would change the target altitude by 20 meters.
Increment |
Range |
Units |
---|---|---|
0.1 |
1 - 10 |
meters per second |
THR_MIN: Minimum Throttle¶
Minimum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set. Negative values allow reverse thrust if hardware supports it.
Increment |
Range |
Units |
---|---|---|
1 |
-100 - 100 |
percent |
THR_MAX: Maximum Throttle¶
Maximum throttle percentage used in all modes except manual, provided THR_PASS_STAB is not set.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
TKOFF_THR_MAX: Maximum Throttle for takeoff¶
The maximum throttle setting during automatic takeoff. If this is zero then THR_MAX is used for takeoff as well.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
THR_SLEWRATE: Throttle slew rate¶
Maximum change in throttle percentage per second. Lower limit based on 1 microsend of servo increase per loop. Divide SCHED_LOOP_RATE by approximately 10 to determine minimum achievable value.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 127 |
percent per second |
FLAP_SLEWRATE: Flap slew rate¶
maximum percentage change in flap output per second. A setting of 25 means to not change the flap by more than 25% of the full flap range in one second. A value of 0 means no rate limiting.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent per second |
THR_SUPP_MAN: Throttle suppress manual passthru¶
When throttle is suppressed in auto mode it is normally forced to zero. If you enable this option, then while suppressed it will be manual throttle. This is useful on petrol engines to hold the idle throttle manually while waiting for takeoff
Values |
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THR_PASS_STAB: Throttle passthru in stabilize¶
If this is set then when in STABILIZE, FBWA or ACRO modes the throttle is a direct passthru from the transmitter. This means the THR_MIN and THR_MAX settings are not used in these modes. This is useful for petrol engines where you setup a throttle cut switch that suppresses the throttle below the normal minimum.
Values |
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THR_FAILSAFE: Throttle and RC Failsafe Enable¶
0 disables the failsafe. 1 enables failsafe on loss of RC input. This is detected either by throttle values below THR_FS_VALUE, loss of receiver valid pulses/data, or by the FS bit in receivers that provide it, like SBUS. A programmable failsafe action will occur and RC inputs, if present, will be ignored. A value of 2 means that the RC inputs won't be used when RC failsafe is detected by any of the above methods, but it won't trigger an RC failsafe action.
Values |
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THR_FS_VALUE: Throttle Failsafe Value¶
The PWM level on the throttle input channel below which throttle failsafe triggers. Note that this should be well below the normal minimum for your throttle channel.
Increment |
Range |
---|---|
1 |
925 - 2200 |
TRIM_THROTTLE: Throttle cruise percentage¶
Target percentage of throttle to apply for flight in automatic throttle modes and throttle percentage that maintains TRIM_ARSPD_CM. Caution: low battery voltages at the end of flights may require higher throttle to maintain airspeed.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
THROTTLE_NUDGE: Throttle nudge enable¶
When enabled, this uses the throttle input in auto-throttle modes to 'nudge' the throttle or airspeed to higher or lower values. When you have an airspeed sensor the nudge affects the target airspeed, so that throttle inputs above 50% will increase the target airspeed from TRIM_ARSPD_CM up to a maximum of ARSPD_FBW_MAX. When no airspeed sensor is enabled the throttle nudge will push up the target throttle for throttle inputs above 50%.
Values |
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FS_SHORT_ACTN: Short failsafe action¶
The action to take on a short (FS_SHORT_TIMEOUT) failsafe event. A short failsafe event can be triggered either by loss of RC control (see THR_FS_VALUE) or by loss of GCS control (see FS_GCS_ENABL). If in CIRCLE or RTL mode this parameter is ignored. A short failsafe event in stabilization and manual modes will cause a change to CIRCLE mode if FS_SHORT_ACTN is 0 or 1, a change to FBWA mode with zero throttle if FS_SHORT_ACTN is 2, and a change to FBWB mode if FS_SHORT_ACTN is 4. In all other modes (AUTO, GUIDED and LOITER) a short failsafe event will cause no mode change if FS_SHORT_ACTN is set to 0, will cause a change to CIRCLE mode if set to 1, will change to FBWA mode with zero throttle if set to 2, or will change to FBWB if set to 4. Please see the documentation for FS_LONG_ACTN for the behaviour after FS_LONG_TIMEOUT seconds of failsafe.
Values |
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FS_SHORT_TIMEOUT: Short failsafe timeout¶
The time in seconds that a failsafe condition has to persist before a short failsafe event will occur. This defaults to 1.5 seconds
Increment |
Range |
Units |
---|---|---|
0.5 |
1 - 100 |
seconds |
FS_LONG_ACTN: Long failsafe action¶
The action to take on a long (FS_LONG_TIMEOUT seconds) failsafe event. If the aircraft was in a stabilization or manual mode when failsafe started and a long failsafe occurs then it will change to RTL mode if FS_LONG_ACTN is 0 or 1, and will change to FBWA if FS_LONG_ACTN is set to 2. If the aircraft was in an auto mode (such as AUTO or GUIDED) when the failsafe started then it will continue in the auto mode if FS_LONG_ACTN is set to 0, will change to RTL mode if FS_LONG_ACTN is set to 1 and will change to FBWA mode if FS_LONG_ACTN is set to 2. If FS_LONG_ACTION is set to 3, the parachute will be deployed (make sure the chute is configured and enabled).
Values |
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FS_LONG_TIMEOUT: Long failsafe timeout¶
The time in seconds that a failsafe condition has to persist before a long failsafe event will occur. This defaults to 5 seconds.
Increment |
Range |
Units |
---|---|---|
0.5 |
1 - 300 |
seconds |
FS_GCS_ENABL: GCS failsafe enable¶
Enable ground control station telemetry failsafe. Failsafe will trigger after FS_LONG_TIMEOUT seconds of no MAVLink heartbeat messages. There are three possible enabled settings. Setting FS_GCS_ENABL to 1 means that GCS failsafe will be triggered when the aircraft has not received a MAVLink HEARTBEAT message. Setting FS_GCS_ENABL to 2 means that GCS failsafe will be triggered on either a loss of HEARTBEAT messages, or a RADIO_STATUS message from a MAVLink enabled 3DR radio indicating that the ground station is not receiving status updates from the aircraft, which is indicated by the RADIO_STATUS.remrssi field being zero (this may happen if you have a one way link due to asymmetric noise on the ground station and aircraft radios).Setting FS_GCS_ENABL to 3 means that GCS failsafe will be triggered by Heartbeat(like option one), but only in AUTO mode. WARNING: Enabling this option opens up the possibility of your plane going into failsafe mode and running the motor on the ground it it loses contact with your ground station. If this option is enabled on an electric plane then you should enable ARMING_REQUIRED.
Values |
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FLTMODE_CH: Flightmode channel¶
RC Channel to use for flight mode control
Increment |
Range |
---|---|
1 |
1 - 16 |
FLTMODE1: FlightMode1¶
Flight mode for switch position 1 (910 to 1230 and above 2049)
Values |
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FLTMODE2: FlightMode2¶
Flight mode for switch position 2 (1231 to 1360)
Values |
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FLTMODE3: FlightMode3¶
Flight mode for switch position 3 (1361 to 1490)
Values |
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FLTMODE4: FlightMode4¶
Flight mode for switch position 4 (1491 to 1620)
Values |
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FLTMODE5: FlightMode5¶
Flight mode for switch position 5 (1621 to 1749)
Values |
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FLTMODE6: FlightMode6¶
Flight mode for switch position 6 (1750 to 2049)
Values |
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INITIAL_MODE: Initial flight mode¶
This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
Values |
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LIM_ROLL_CD: Maximum Bank Angle¶
Maximum bank angle commanded in modes with stabilized limits. Increase this value for sharper turns, but decrease to prevent accelerated stalls.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 9000 |
centidegrees |
LIM_PITCH_MAX: Maximum Pitch Angle¶
Maximum pitch up angle commanded in modes with stabilized limits.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 9000 |
centidegrees |
LIM_PITCH_MIN: Minimum Pitch Angle¶
Maximum pitch down angle commanded in modes with stabilized limits
Increment |
Range |
Units |
---|---|---|
10 |
-9000 - 0 |
centidegrees |
ACRO_ROLL_RATE: ACRO mode roll rate¶
The maximum roll rate at full stick deflection in ACRO mode
Increment |
Range |
Units |
---|---|---|
1 |
10 - 500 |
degrees per second |
ACRO_PITCH_RATE: ACRO mode pitch rate¶
The maximum pitch rate at full stick deflection in ACRO mode
Increment |
Range |
Units |
---|---|---|
1 |
10 - 500 |
degrees per second |
ACRO_YAW_RATE: ACRO mode yaw rate¶
The maximum yaw rate at full stick deflection in ACRO mode. If this is zero then rudder is directly controlled by rudder stick input. This option is only available if you also set YAW_RATE_ENABLE to 1.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 500 |
degrees per second |
ACRO_LOCKING: ACRO mode attitude locking¶
Enable attitude locking when sticks are released
Values |
||||||
---|---|---|---|---|---|---|
|
GROUND_STEER_ALT: Ground steer altitude¶
Altitude at which to use the ground steering controller on the rudder. If non-zero then the STEER2SRV controller will be used to control the rudder for altitudes within this limit of the home altitude.
Increment |
Range |
Units |
---|---|---|
0.1 |
-100 - 100 |
meters |
GROUND_STEER_DPS: Ground steer rate¶
Ground steering rate in degrees per second for full rudder stick deflection
Increment |
Range |
Units |
---|---|---|
1 |
10 - 360 |
degrees per second |
MIXING_GAIN: Mixing Gain¶
The gain for the Vtail and elevon output mixers. The default is 0.5, which ensures that the mixer doesn't saturate, allowing both input channels to go to extremes while retaining control over the output. Hardware mixers often have a 1.0 gain, which gives more servo throw, but can saturate. If you don't have enough throw on your servos with VTAIL_OUTPUT or ELEVON_OUTPUT enabled then you can raise the gain using MIXING_GAIN. The mixer allows outputs in the range 900 to 2100 microseconds.
Range |
---|
0.5 - 1.2 |
RUDDER_ONLY: Rudder only aircraft¶
Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.
Values |
||||||
---|---|---|---|---|---|---|
|
MIXING_OFFSET: Mixing Offset¶
The offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.
Range |
Units |
---|---|
-1000 - 1000 |
decipercent |
DSPOILR_RUD_RATE: Differential spoilers rudder rate¶
Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).
Range |
Units |
---|---|
-100 - 100 |
percent |
SYS_NUM_RESETS: Num Resets¶
Number of APM board resets
ReadOnly |
---|
True |
LOG_BITMASK: Log bitmask¶
Bitmap of what on-board log types to enable. This value is made up of the sum of each of the log types you want to be saved. It is usually best just to enable all log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Sonar=16384, Arming=32768, FullLogs=65535
Bitmask |
||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TRIM_ARSPD_CM: Target airspeed¶
Target airspeed in cm/s in automatic throttle modes. Value is as an indicated (calibrated/apparent) airspeed.
Units |
---|
centimeters per second |
SCALING_SPEED: speed used for speed scaling calculations¶
Airspeed in m/s to use when calculating surface speed scaling. Note that changing this value will affect all PID values
Increment |
Range |
Units |
---|---|---|
0.1 |
0 - 50 |
meters per second |
MIN_GNDSPD_CM: Minimum ground speed¶
Minimum ground speed in cm/s when under airspeed control
Units |
---|
centimeters per second |
TRIM_PITCH_CD: Pitch angle offset¶
Offset applied to AHRS pitch used for in-flight pitch trimming. Correct ground leveling is better than changing this parameter.
Increment |
Range |
Units |
---|---|---|
10 |
-4500 - 4500 |
centidegrees |
ALT_HOLD_RTL: RTL altitude¶
Target altitude above home for RTL mode. Maintains current altitude if set to -1. Rally point altitudes are used if plane does not return to home.
Units |
---|
centimeters |
ALT_HOLD_FBWCM: Minimum altitude for FBWB mode¶
This is the minimum altitude in centimeters that FBWB and CRUISE modes will allow. If you attempt to descend below this altitude then the plane will level off. A value of zero means no limit.
Units |
---|
centimeters |
FLAP_1_PERCNT: Flap 1 percentage¶
The percentage change in flap position when FLAP_1_SPEED is reached. Use zero to disable flaps
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
FLAP_1_SPEED: Flap 1 speed¶
The speed in meters per second at which to engage FLAP_1_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
meters per second |
FLAP_2_PERCNT: Flap 2 percentage¶
The percentage change in flap position when FLAP_2_SPEED is reached. Use zero to disable flaps
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
FLAP_2_SPEED: Flap 2 speed¶
The speed in meters per second at which to engage FLAP_2_PERCENT of flaps. Note that FLAP_1_SPEED should be greater than or equal to FLAP_2_SPEED
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
meters per second |
OVERRIDE_CHAN: IO override channel¶
If set to a non-zero value then this is an RC input channel number to use for giving IO manual control in case the main FMU microcontroller on a board with a IO co-processor fails. When this RC input channel goes above 1750 the FMU microcontroller will no longer be involved in controlling the servos and instead the IO microcontroller will directly control the servos. Note that IO manual control will be automatically activated if the FMU crashes for any reason. This parameter allows you to test for correct manual behaviour without actually crashing the FMU. This parameter is can be set to a non-zero value either for ground testing purposes or for giving the effect of an external override control board. Note that you may set OVERRIDE_CHAN to the same channel as FLTMODE_CH to get IO based override when in flight mode 6. Note that when override is triggered due to a FMU crash the 6 auxiliary output channels on the FMU will no longer be updated, so all the flight controls you need must be assigned to the first 8 channels on boards with an IOMCU.
Increment |
Range |
---|---|
1 |
0 - 16 |
RTL_AUTOLAND: RTL auto land¶
Automatically begin landing sequence after arriving at RTL location. This requires the addition of a DO_LAND_START mission item, which acts as a marker for the start of a landing sequence. The closest landing sequence will be chosen to the current location. If this is set to 0 and there is a DO_LAND_START mission item then you will get an arming check failure. You can set to a value of 3 to avoid the arming check failure and use the DO_LAND_START for go-around without it changing RTL behaviour. For a value of 1 a rally point will be used instead of HOME if in range (see rally point documentation).
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
CRASH_ACC_THRESH: Crash Deceleration Threshold¶
X-Axis deceleration threshold to notify the crash detector that there was a possible impact which helps disarm the motor quickly after a crash. This value should be much higher than normal negative x-axis forces during normal flight, check flight log files to determine the average IMU.x values for your aircraft and motor type. Higher value means less sensative (triggers on higher impact). For electric planes that don't vibrate much during fight a value of 25 is good (that's about 2.5G). For petrol/nitro planes you'll want a higher value. Set to 0 to disable the collision detector.
Increment |
Range |
Units |
---|---|---|
1 |
10 - 127 |
meters per square second |
CRASH_DETECT: Crash Detection¶
Automatically detect a crash during AUTO flight and perform the bitmask selected action(s). Disarm will turn off motor for safety and to help against burning out ESC and motor. Set to 0 to disable crash detection.
Bitmask |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
|
|
RNGFND_LANDING: Enable rangefinder for landing¶
This enables the use of a rangefinder for automatic landing. The rangefinder will be used both on the landing approach and for final flare
Values |
||||||
---|---|---|---|---|---|---|
|
SYSID_ENFORCE: GCS sysid enforcement¶
This controls whether packets from other than the expected GCS system ID will be accepted
Values |
||||||
---|---|---|---|---|---|---|
|
RUDD_DT_GAIN: rudder differential thrust gain¶
gain control from rudder to differential thrust
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
MANUAL_RCMASK: Manual R/C pass-through mask¶
Mask of R/C channels to pass directly to corresponding output channel when in MANUAL mode. When in any mode except MANUAL the channels selected with this option behave normally. This parameter is designed to allow for complex mixing strategies to be used for MANUAL flight using transmitter based mixing. Note that when this option is used you need to be very careful with pre-flight checks to ensure that the output is correct both in MANUAL and non-MANUAL modes.
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
HOME_RESET_ALT: Home reset altitude threshold¶
When the aircraft is within this altitude of the home waypoint, while disarmed it will automatically update the home position. Set to 0 to continously reset it.
Range |
Units |
Values |
||||||
---|---|---|---|---|---|---|---|---|
-1 - 127 |
meters |
|
FLIGHT_OPTIONS: Flight mode options¶
Flight mode specific options
Bitmask |
||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
TKOFF_ACCEL_CNT: Takeoff throttle acceleration count¶
This is the number of acceleration events to require for arming with TKOFF_THR_MINACC. The default is 1, which means a single forward acceleration above TKOFF_THR_MINACC will arm. By setting this higher than 1 you can require more forward/backward movements to arm.
Range |
---|
1 - 10 |
DSPOILER_CROW_W1: Differential spoiler crow flaps outer weight¶
This is amount of deflection applied to the two outer surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 25.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
DSPOILER_CROW_W2: Differential spoiler crow flaps inner weight¶
This is amount of deflection applied to the two inner surfaces for differential spoilers for flaps to give crow flaps. It is a number from 0 to 100. At zero no crow flaps are applied. A recommended starting value is 45.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
TKOFF_TIMEOUT: Takeoff timeout¶
This is the timeout for an automatic takeoff. If this is non-zero and the aircraft does not reach a ground speed of at least 4 m/s within this number of seconds then the takeoff is aborted and the vehicle disarmed. If the value is zero then no timeout applies.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
DSPOILER_OPTS: Differential spoiler and crow flaps options¶
Differential spoiler and crow flaps options
Bitmask |
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
|
DSPOILER_AILMTCH: Differential spoiler aileron matching¶
This scales down the inner flaps so less than full downwards range can be used for differential spoiler and full span ailerons, 100 is use full range, upwards travel is unaffected
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
FWD_BAT_VOLT_MAX: Forward throttle battery voltage compensation maximum voltage¶
Forward throttle battery voltage compensation maximum voltage (voltage above this will have no additional scaling effect on thrust). Recommend 4.2 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.
Increment |
Range |
Units |
---|---|---|
0.1 |
6 - 35 |
volt |
FWD_BAT_VOLT_MIN: Forward throttle battery voltage compensation minimum voltage¶
Forward throttle battery voltage compensation minimum voltage (voltage below this will have no additional scaling effect on thrust). Recommend 3.5 * cell count, 0 = Disabled. Recommend THR_MAX is set to no more than 100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX, THR_MIN is set to no less than -100 x FWD_BAT_VOLT_MIN / FWD_BAT_VOLT_MAX and climb descent rate limits are set accordingly.
Increment |
Range |
Units |
---|---|---|
0.1 |
6 - 35 |
volt |
FWD_BAT_IDX: Forward throttle battery compensation index¶
Which battery monitor should be used for doing compensation for the forward throttle
Values |
||||||
---|---|---|---|---|---|---|
|
FS_EKF_THRESH: EKF failsafe variance threshold¶
Allows setting the maximum acceptable compass and velocity variance used to check navigation health in VTOL modes
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
RTL_CLIMB_MIN: RTL minimum climb¶
The vehicle will climb this many m during the initial climb portion of the RTL. During this time the roll will be limited to LEVEL_ROLL_LIMIT degrees.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 30 |
meters |
MAN_EXPO_ROLL: Manual control expo for roll¶
Percentage exponential for roll input in MANUAL, ACRO and TRAINING modes
Increment |
Range |
---|---|
1 |
0 - 100 |
MAN_EXPO_PITCH: Manual input expo for pitch¶
Percentage exponential for pitch input in MANUAL, ACRO and TRAINING modes
Increment |
Range |
---|---|
1 |
0 - 100 |
MAN_EXPO_RUDDER: Manual input expo for rudder¶
Percentage exponential for rudder input in MANUAL, ACRO and TRAINING modes
Increment |
Range |
---|---|
1 |
0 - 100 |
ONESHOT_MASK: Oneshot output mask¶
Mask of output channels to use oneshot on
Bitmask |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_ Parameters¶
ADSB_TYPE: ADSB Type¶
Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_LIST_MAX: ADSB vehicle list size¶
ADSB list size of nearest vehicles. Longer lists take longer to refresh with lower SRx_ADSB values.
Range |
---|
1 - 100 |
ADSB_LIST_RADIUS: ADSB vehicle list radius filter¶
ADSB vehicle list radius filter. Vehicles detected outside this radius will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
Range |
Units |
---|---|
0 - 100000 |
meters |
ADSB_ICAO_ID: ICAO_ID vehicle identification number¶
ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.
Range |
---|
-1 - 16777215 |
ADSB_EMIT_TYPE: Emitter type¶
ADSB classification for the type of vehicle emitting the transponder signal. Default value is 14 (UAV).
Values |
||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_LEN_WIDTH: Aircraft length and width¶
Aircraft length and width dimension options in Length and Width in meters. In most cases, use a value of 1 for smallest size.
Values |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_OFFSET_LAT: GPS antenna lateral offset¶
GPS antenna lateral offset. This describes the physical location offest from center of the GPS antenna on the aircraft.
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_OFFSET_LON: GPS antenna longitudinal offset¶
GPS antenna longitudinal offset. This is usually set to 1, Applied By Sensor
Values |
||||||
---|---|---|---|---|---|---|
|
ADSB_RF_SELECT: Transceiver RF selection¶
Transceiver RF selection for Rx enable and/or Tx enable. This only effects devices that can Tx and/or Rx. Rx-only devices should override this to always be Rx-only.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
ADSB_SQUAWK: Squawk code¶
VFR squawk (Mode 3/A) code is a pre-programmed default code when the pilot is flying VFR and not in contact with ATC. In the USA, the VFR squawk code is octal 1200 (hex 0x280, decimal 640) and in most parts of Europe the VFR squawk code is octal 7000. If an invalid octal number is set then it will be reset to 1200.
Range |
Units |
---|---|
0 - 7777 |
octal |
ADSB_RF_CAPABLE: RF capabilities¶
Describes your hardware RF In/Out capabilities.
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
ADSB_LIST_ALT: ADSB vehicle list altitude filter¶
ADSB vehicle list altitude filter. Vehicles detected above this altitude will be completely ignored. They will not show up in the SRx_ADSB stream to the GCS and will not be considered in any avoidance calculations. A value of 0 will disable this filter.
Range |
Units |
---|---|
0 - 32767 |
meters |
ADSB_ICAO_SPECL: ICAO_ID of special vehicle¶
ICAO_ID of special vehicle that ignores ADSB_LIST_RADIUS and ADSB_LIST_ALT. The vehicle is always tracked. Use 0 to disable.
ADSB_LOG: ADS-B logging¶
0: no logging, 1: log only special ID, 2:log all
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
AFS_ Parameters¶
AFS_ENABLE: Enable Advanced Failsafe¶
This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect
AFS_MAN_PIN: Manual Pin¶
This sets a digital output pin to set high when in manual mode
AFS_HB_PIN: Heartbeat Pin¶
This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.
Values |
||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AFS_WP_COMMS: Comms Waypoint¶
Waypoint number to navigate to on comms loss
AFS_WP_GPS_LOSS: GPS Loss Waypoint¶
Waypoint number to navigate to on GPS lock loss
AFS_TERMINATE: Force Terminate¶
Can be set in flight to force termination of the heartbeat signal
AFS_TERM_ACTION: Terminate action¶
This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter
AFS_TERM_PIN: Terminate Pin¶
This sets a digital output pin to set high on flight termination
Values |
||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AFS_AMSL_LIMIT: AMSL limit¶
This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.
Units |
---|
meters |
AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit¶
This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.
Units |
---|
meters |
AFS_QNH_PRESSURE: QNH pressure¶
This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.
Units |
---|
hectopascal |
AFS_MAX_GPS_LOSS: Maximum number of GPS loss events¶
Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.
AFS_MAX_COM_LOSS: Maximum number of comms loss events¶
Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.
AFS_GEOFENCE: Enable geofence Advanced Failsafe¶
This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1
AFS_RC: Enable RC Advanced Failsafe¶
This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1
AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes¶
If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.
AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously¶
This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a "dual loss" and cause termination.
AFS_RC_FAIL_TIME: RC failure time¶
This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.
Units |
---|
seconds |
AFS_MAX_RANGE: Max allowed range¶
This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.
Units |
---|
kilometers |
AHRS_ Parameters¶
AHRS_GPS_GAIN: AHRS GPS gain¶
This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.
Increment |
Range |
---|---|
.01 |
0.0 - 1.0 |
AHRS_YAW_P: Yaw P¶
This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.
Increment |
Range |
---|---|
.01 |
0.1 - 0.4 |
AHRS_RP_P: AHRS RP_P¶
This controls how fast the accelerometers correct the attitude
Increment |
Range |
---|---|
.01 |
0.1 - 0.4 |
AHRS_WIND_MAX: Maximum wind¶
This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 127 |
meters per second |
AHRS_TRIM_X: AHRS Trim Roll¶
Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 - +0.1745 |
radians |
AHRS_TRIM_Y: AHRS Trim Pitch¶
Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 - +0.1745 |
radians |
AHRS_TRIM_Z: AHRS Trim Yaw¶
Not Used
Increment |
Range |
Units |
---|---|---|
0.01 |
-0.1745 - +0.1745 |
radians |
AHRS_ORIENTATION: Board Orientation¶
Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶
This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.
Increment |
Range |
---|---|
.01 |
0.001 - 0.5 |
AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶
Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.
Increment |
Range |
---|---|
1 |
0 - 10 |
AHRS_CUSTOM_ROLL: Board orientation roll offset¶
Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
AHRS_CUSTOM_PIT: Board orientation pitch offset¶
Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
AHRS_CUSTOM_YAW: Board orientation yaw offset¶
Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
ARMING_ Parameters¶
ARMING_REQUIRE: Require Arming Motors¶
Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.
Values |
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---|---|---|---|---|---|---|---|---|
|
ARMING_ACCTHRESH: Accelerometer error threshold¶
Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.
Range |
Units |
---|---|
0.25 - 3.0 |
meters per square second |
ARMING_RUDDER: Arming with Rudder enable/disable¶
Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARMING_MIS_ITEMS: Required mission items¶
Bitmask of mission items that are required to be planned in order to arm the aircraft
Bitmask |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARMING_CHECK: Arm Checks to Perform (bitmask)¶
Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.
Bitmask |
||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD Parameters¶
ARSPD_TYPE: Airspeed type¶
Type of airspeed sensor
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD_DEVID: Airspeed ID¶
Airspeed sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
ARSPD_USE: Airspeed use¶
Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD_OFFSET: Airspeed offset¶
Airspeed calibration offset
Increment |
---|
0.1 |
ARSPD_RATIO: Airspeed ratio¶
Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.
Increment |
---|
0.1 |
ARSPD_PIN: Airspeed pin¶
The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.
ARSPD_AUTOCAL: Automatic airspeed ratio calibration¶
Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.
ARSPD_TUBE_ORDER: Control pitot tube order¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD_SKIP_CAL: Skip airspeed calibration on startup¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
---|---|---|---|---|---|---|
|
ARSPD_PSI_RANGE: The PSI range of the device¶
This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD_BUS: Airspeed I2C bus¶
Bus number of the I2C bus where the airspeed sensor is connected
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD_PRIMARY: Primary airspeed sensor¶
This selects which airspeed sensor will be the primary if multiple sensors are found
Values |
||||||
---|---|---|---|---|---|---|
|
ARSPD_OPTIONS: Airspeed options bitmask¶
Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD_WIND_MAX: Maximum airspeed and ground speed difference¶
If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.
Units |
---|
meters per second |
ARSPD_WIND_WARN: Airspeed and ground speed difference that gives a warning¶
If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.
Units |
---|
meters per second |
ARSPD2_TYPE: Second Airspeed type¶
Type of 2nd airspeed sensor
Values |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ARSPD2_USE: Enable use of 2nd airspeed sensor¶
use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor¶
Airspeed calibration offset
Increment |
---|
0.1 |
ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor¶
Airspeed calibration ratio
Increment |
---|
0.1 |
ARSPD2_PIN: Airspeed pin for 2nd airspeed sensor¶
Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15.
ARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor¶
If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.
ARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor¶
This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the first (often the top) connector on the sensor needs to be the stagnation pressure (the pressure at the tip of the pitot tube). If set to 1 then the second (often the bottom) connector needs to be the stagnation pressure. If set to 2 (the default) then the airspeed driver will accept either order. The reason you may wish to specify the order is it will allow your airspeed sensor to detect if the aircraft is receiving excessive pressure on the static port compared to the stagnation port such as during a stall, which would otherwise be seen as a positive airspeed.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor¶
This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.
Values |
||||||
---|---|---|---|---|---|---|
|
ARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor¶
This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device
ARSPD2_BUS: Airspeed I2C bus for 2nd sensor¶
The bus number of the I2C bus to look for the sensor on
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ARSPD2_DEVID: Airspeed2 ID¶
Airspeed2 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
AVD_ Parameters¶
AVD_ENABLE: Enable Avoidance using ADSB¶
Enable Avoidance using ADSB
Values |
||||||
---|---|---|---|---|---|---|
|
AVD_F_ACTION: Collision Avoidance Behavior¶
Specifies aircraft behaviour when a collision is imminent
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
AVD_W_ACTION: Collision Avoidance Behavior - Warn¶
Specifies aircraft behaviour when a collision may occur
Values |
||||||
---|---|---|---|---|---|---|
|
AVD_F_RCVRY: Recovery behaviour after a fail event¶
Determines what the aircraft will do after a fail event is resolved
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
AVD_OBS_MAX: Maximum number of obstacles to track¶
Maximum number of obstacles to track
AVD_W_TIME: Time Horizon Warn¶
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)
Units |
---|
seconds |
AVD_F_TIME: Time Horizon Fail¶
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken
Units |
---|
seconds |
AVD_W_DIST_XY: Distance Warn XY¶
Closest allowed projected distance before W_ACTION is undertaken
Units |
---|
meters |
AVD_F_DIST_XY: Distance Fail XY¶
Closest allowed projected distance before F_ACTION is undertaken
Units |
---|
meters |
AVD_W_DIST_Z: Distance Warn Z¶
Closest allowed projected distance before BEHAVIOUR_W is undertaken
Units |
---|
meters |
AVD_F_DIST_Z: Distance Fail Z¶
Closest allowed projected distance before BEHAVIOUR_F is undertaken
Units |
---|
meters |
AVD_F_ALT_MIN: ADS-B avoidance minimum altitude¶
Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.
Units |
---|
meters |
BARO Parameters¶
BARO1_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
---|---|---|---|
1 |
True |
pascal |
True |
BARO_GND_TEMP: ground temperature¶
User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.
Increment |
Units |
Volatile |
---|---|---|
1 |
degrees Celsius |
True |
BARO_ALT_OFFSET: altitude offset¶
altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.
Increment |
Units |
---|---|
0.1 |
meters |
BARO_PRIMARY: Primary barometer¶
This selects which barometer will be the primary if multiple barometers are found
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BARO_EXT_BUS: External baro bus¶
This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.
Values |
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---|---|---|---|---|---|---|---|---|
|
BARO_SPEC_GRAV: Specific Gravity (For water depth measurement)¶
This sets the specific gravity of the fluid when flying an underwater ROV.
Values |
||||||
---|---|---|---|---|---|---|
|
BARO2_GND_PRESS: Ground Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
---|---|---|---|
1 |
True |
pascal |
True |
BARO3_GND_PRESS: Absolute Pressure¶
calibrated ground pressure in Pascals
Increment |
ReadOnly |
Units |
Volatile |
---|---|---|---|
1 |
True |
pascal |
True |
BARO_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
BARO_PROBE_EXT: External barometers to probe¶
This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.
Bitmask |
||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BARO1_DEVID: Baro ID¶
Barometer sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
BARO2_DEVID: Baro ID2¶
Barometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
BARO3_DEVID: Baro ID3¶
Barometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
BARO1_WCF_ Parameters¶
BARO1_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
---|---|---|---|---|---|---|
|
BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO2_WCF_ Parameters¶
BARO2_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
---|---|---|---|---|---|---|
|
BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO3_WCF_ Parameters¶
BARO3_WCF_ENABLE: Wind coefficient enable¶
This enables the use of wind coefficients for barometer compensation
Values |
||||||
---|---|---|---|---|---|---|
|
BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)¶
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)¶
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.
Increment |
Range |
---|---|
0.05 |
-1.0 - 1.0 |
BATT2_ Parameters¶
BATT2_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
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---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT2_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT2_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT2_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT2_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT2_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT2_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT2_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT2_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT2_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT2_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT2_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT2_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT2_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT2_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT2_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BATT3_ Parameters¶
BATT3_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT3_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT3_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT3_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT3_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT3_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT3_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT3_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT3_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT3_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT3_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT3_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT3_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT3_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT3_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT3_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BATT4_ Parameters¶
BATT4_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT4_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT4_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT4_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT4_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT4_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT4_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT4_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT4_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT4_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT4_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT4_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT4_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT4_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT4_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT4_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BATT5_ Parameters¶
BATT5_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT5_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT5_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT5_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT5_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT5_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT5_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT5_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT5_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT5_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT5_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT5_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT5_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT5_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT5_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT5_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BATT6_ Parameters¶
BATT6_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT6_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT6_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT6_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT6_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT6_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT6_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT6_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT6_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT6_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT6_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT6_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT6_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT6_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT6_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT6_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BATT7_ Parameters¶
BATT7_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT7_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT7_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT7_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT7_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT7_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT7_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT7_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT7_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT7_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT7_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT7_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT7_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT7_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT7_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT7_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BATT8_ Parameters¶
BATT8_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT8_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT8_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT8_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT8_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT8_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT8_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT8_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT8_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT8_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT8_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT8_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT8_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT8_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT8_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT8_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BATT9_ Parameters¶
BATT9_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT9_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT9_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT9_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT9_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT9_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT9_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT9_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT9_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT9_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT9_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT9_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT9_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT9_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT9_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT9_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BATT_ Parameters¶
BATT_MONITOR: Battery monitoring¶
Controls enabling monitoring of the battery's voltage and current
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CAPACITY: Battery capacity¶
Capacity of the battery in mAh when full
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_WATT_MAX: Maximum allowed power (Watts)¶
If battery wattage (voltage * current) exceeds this value then the system will reduce max throttle (THR_MAX, TKOFF_THR_MAX and THR_MIN for reverse thrust) to satisfy this limit. This helps limit high current to low C rated batteries regardless of battery voltage. The max throttle will slowly grow back to THR_MAX (or TKOFF_THR_MAX ) and THR_MIN if demanding the current max and under the watt max. Use 0 to disable.
Increment |
Units |
---|---|
1 |
watt |
BATT_SERIAL_NUM: Battery serial number¶
Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With DroneCan it is the battery_id.
BATT_LOW_TIMER: Low voltage timeout¶
This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 120 |
seconds |
BATT_FS_VOLTSRC: Failsafe voltage source¶
Voltage type used for detection of low voltage event
Values |
||||||
---|---|---|---|---|---|---|
|
BATT_LOW_VOLT: Low battery voltage¶
Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT_LOW_MAH: Low battery capacity¶
Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_CRT_VOLT: Critical battery voltage¶
Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.
Increment |
Units |
---|---|
0.1 |
volt |
BATT_CRT_MAH: Battery critical capacity¶
Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_FS_LOW_ACT: Low battery failsafe action¶
What action the vehicle should perform if it hits a low battery failsafe
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_FS_CRT_ACT: Critical battery failsafe action¶
What action the vehicle should perform if it hits a critical battery failsafe
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_ARM_VOLT: Required arming voltage¶
Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.
Increment |
Units |
---|---|
0.1 |
volt |
BATT_ARM_MAH: Required arming remaining capacity¶
Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.
Increment |
Units |
---|---|
50 |
milliampere hour |
BATT_OPTIONS: Battery monitor options¶
This sets options to change the behaviour of the battery monitor
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_VOLT_PIN: Battery Voltage sensing pin¶
Sets the analog input pin that should be used for voltage monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_PIN: Battery Current sensing pin¶
Sets the analog input pin that should be used for current monitoring.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_VOLT_MULT: Voltage Multiplier¶
Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.
BATT_AMP_PERVLT: Amps per volt¶
Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.
Units |
---|
ampere per volt |
BATT_AMP_OFFSET: AMP offset¶
Voltage offset at zero current on current sensor
Units |
---|
volt |
BATT_VLT_OFFSET: Volage offset¶
Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied
Units |
---|
volt |
BATT_I2C_BUS: Battery monitor I2C bus number¶
Battery monitor I2C bus number
Range |
---|
0 - 3 |
BATT_I2C_ADDR: Battery monitor I2C address¶
Battery monitor I2C address
Range |
---|
0 - 127 |
BATT_SUM_MASK: Battery Sum mask¶
0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.
Bitmask |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BATT_CURR_MULT: Scales reported power monitor current¶
Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications
Range |
---|
.1 - 10 |
BRD_ Parameters¶
BRD_SER1_RTSCTS: Serial 1 flow control¶
Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_SER2_RTSCTS: Serial 2 flow control¶
Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_SER3_RTSCTS: Serial 3 flow control¶
Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_SER4_RTSCTS: Serial 4 flow control¶
Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_SER5_RTSCTS: Serial 5 flow control¶
Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_SAFETYENABLE: Enable use of safety arming switch¶
This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_SBUS_OUT: SBUS output rate¶
This sets the SBUS output frame rate in Hz
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_SERIAL_NUM: User-defined serial number¶
User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot
Range |
---|
-32768 - 32767 |
BRD_SAFETY_MASK: Outputs which ignore the safety switch state¶
A bitmask which controls what outputs can move while the safety switch has not been pressed
Bitmask |
||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_HEAT_TARG: Board heater temperature target¶
Board heater target temperature for boards with controllable heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.
Range |
Units |
---|---|
-1 - 80 |
degrees Celsius |
BRD_TYPE: Board type¶
This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)
Values |
||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_IO_ENABLE: Enable IO co-processor¶
This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_VBUS_MIN: Autopilot board voltage requirement¶
Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.
Increment |
Range |
Units |
---|---|---|
0.1 |
4.0 - 5.5 |
volt |
BRD_VSERVO_MIN: Servo voltage requirement¶
Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.
Increment |
Range |
Units |
---|---|---|
0.1 |
3.3 - 12.0 |
volt |
BRD_SD_SLOWDOWN: microSD slowdown¶
This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.
Increment |
Range |
---|---|
1 |
0 - 32 |
BRD_PWM_VOLT_SEL: Set PWM Out Voltage¶
This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_OPTIONS: Board options¶
Board specific option flags
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_BOOT_DELAY: Boot delay¶
This adds a delay in milliseconds to boot to ensure peripherals initialise fully
Range |
Units |
---|---|
0 - 10000 |
milliseconds |
BRD_HEAT_P: Board Heater P gain¶
Board Heater P gain
Increment |
Range |
---|---|
1 |
1 - 500 |
BRD_HEAT_I: Board Heater I gain¶
Board Heater integrator gain
Increment |
Range |
---|---|
0.1 |
0 - 1 |
BRD_HEAT_IMAX: Board Heater IMAX¶
Board Heater integrator maximum
Increment |
Range |
---|---|
1 |
0 - 100 |
BRD_ALT_CONFIG: Alternative HW config¶
Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.
Increment |
Range |
---|---|
1 |
0 - 10 |
BRD_HEAT_LOWMGN: Board heater temp lower margin¶
Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check
Range |
Units |
---|---|
0 - 20 |
degrees Celsius |
BRD_RADIO Parameters¶
BRD_RADIO_TYPE: Set type of direct attached radio¶
This enables support for direct attached radio receivers
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_PROT: protocol¶
Select air protocol
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_DEBUG: debug level¶
radio debug level
Range |
---|
0 - 4 |
BRD_RADIO_DISCRC: disable receive CRC¶
disable receive CRC (for debug)
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_RADIO_SIGCH: RSSI signal strength¶
Channel to show receive RSSI signal strength, or zero for disabled
Range |
---|
0 - 16 |
BRD_RADIO_PPSCH: Packet rate channel¶
Channel to show received packet-per-second rate, or zero for disabled
Range |
---|
0 - 16 |
BRD_RADIO_TELEM: Enable telemetry¶
If this is non-zero then telemetry packets will be sent over DSM
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_RADIO_TXPOW: Telemetry Transmit power¶
Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX
Range |
---|
1 - 8 |
BRD_RADIO_FCCTST: Put radio into FCC test mode¶
If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_STKMD: Stick input mode¶
This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.
Values |
||||||
---|---|---|---|---|---|---|
|
BRD_RADIO_TESTCH: Set radio to factory test channel¶
This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶
Channel to show telemetry RSSI value as received by TX
Range |
---|
0 - 16 |
BRD_RADIO_TPPSCH: Telemetry PPS channel¶
Channel to show telemetry packets-per-second value, as received at TX
Range |
---|
0 - 16 |
BRD_RADIO_TXMAX: Transmitter transmit power¶
Set transmitter maximum transmit power (from 1 to 8)
Range |
---|
1 - 8 |
BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶
Set transmitter buzzer note adjustment (adjust frequency up)
Range |
---|
0 - 40 |
BRD_RADIO_ABTIME: Auto-bind time¶
When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.
Range |
---|
0 - 120 |
BRD_RADIO_ABLVL: Auto-bind level¶
This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially
Range |
---|
0 - 31 |
BRD_RTC Parameters¶
BRD_RTC_TYPES: Allowed sources of RTC time¶
Specifies which sources of UTC time will be accepted
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
BRD_RTC_TZ_MIN: Timezone offset from UTC¶
Adds offset in +- minutes from UTC to calculate local time
Range |
---|
-720 - +840 |
BTN_ Parameters¶
BTN_REPORT_SEND: Report send time¶
The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.
Range |
---|
0 - 3600 |
CAM_ Parameters¶
CAM_TRIGG_TYPE: Camera shutter (trigger) type¶
how to trigger the camera to take a picture
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
CAM_DURATION: Duration that shutter is held open¶
How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)
Range |
Units |
---|---|
0 - 50 |
deciseconds |
CAM_SERVO_ON: Servo ON PWM value¶
PWM value in microseconds to move servo to when shutter is activated
Range |
Units |
---|---|
1000 - 2000 |
PWM in microseconds |
CAM_SERVO_OFF: Servo OFF PWM value¶
PWM value in microseconds to move servo to when shutter is deactivated
Range |
Units |
---|---|
1000 - 2000 |
PWM in microseconds |
CAM_TRIGG_DIST: Camera trigger distance¶
Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.
Range |
Units |
---|---|
0 - 1000 |
meters |
CAM_RELAY_ON: Relay ON value¶
This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera
Values |
||||||
---|---|---|---|---|---|---|
|
CAM_MIN_INTERVAL: Minimum time between photos¶
Postpone shooting if previous picture was taken less than preset time(ms) ago.
Range |
Units |
---|---|
0 - 10000 |
milliseconds |
CAM_MAX_ROLL: Maximum photo roll angle.¶
Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).
Range |
Units |
---|---|
0 - 180 |
degrees |
CAM_FEEDBACK_PIN: Camera feedback pin¶
pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAM_FEEDBACK_POL: Camera feedback pin polarity¶
Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low
Values |
||||||
---|---|---|---|---|---|---|
|
CAM_AUTO_ONLY: Distance-trigging in AUTO mode only¶
When enabled, trigging by distance is done in AUTO mode only.
Values |
||||||
---|---|---|---|---|---|---|
|
CAM_TYPE: Type of camera (0: None, 1: BMMCC)¶
Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.
Values |
||||||
---|---|---|---|---|---|---|
|
CAM_RC_ Parameters¶
CAM_RC_TYPE: RunCam device type¶
RunCam deviee type used to determine OSD menu structure and shutter options.
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAM_RC_FEATURES: RunCam features available¶
The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.
Bitmask |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAM_RC_BT_DELAY: RunCam boot delay before allowing updates¶
Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.
CAM_RC_CONTROL: RunCam control option¶
Specifies the allowed actions required to enter the OSD menu
Bitmask |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_ Parameters¶
CAN_LOGLEVEL: Loglevel¶
Loglevel for recording initialisation and debug information from CAN Interface
Range |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
CAN_D1_ Parameters¶
CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_KDE_ Parameters¶
CAN_D1_KDE_NPOLE: Number of motor poles¶
Sets the number of motor poles to calculate the correct RPM value
CAN_D1_PC_ Parameters¶
CAN_D1_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D1_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D1_TST_ Parameters¶
CAN_D1_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
Range |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
CAN_D1_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
Units |
---|
microseconds |
CAN_D1_UC_ Parameters¶
CAN_D1_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
Range |
---|
1 - 250 |
CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D1_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D1_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||
---|---|---|---|---|---|---|
|
CAN_D1_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D1_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth
Range |
---|
0 - 18 |
CAN_D2_ Parameters¶
CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_KDE_ Parameters¶
CAN_D2_KDE_NPOLE: Number of motor poles¶
Sets the number of motor poles to calculate the correct RPM value
CAN_D2_PC_ Parameters¶
CAN_D2_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D2_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D2_TST_ Parameters¶
CAN_D2_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
Range |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
CAN_D2_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
Units |
---|
microseconds |
CAN_D2_UC_ Parameters¶
CAN_D2_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
Range |
---|
1 - 250 |
CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D2_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D2_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||
---|---|---|---|---|---|---|
|
CAN_D2_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D2_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth
Range |
---|
0 - 18 |
CAN_D3_ Parameters¶
CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver¶
Enabling this option starts selected protocol that will use this virtual driver
Values |
||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_KDE_ Parameters¶
CAN_D3_KDE_NPOLE: Number of motor poles¶
Sets the number of motor poles to calculate the correct RPM value
CAN_D3_PC_ Parameters¶
CAN_D3_PC_ESC_BM: ESC channels¶
Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_PC_ESC_RT: ESC output rate¶
Output rate of ESC command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D3_PC_SRV_BM: Servo channels¶
Bitmask defining which servo channels are to be transmitted over Piccolo CAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_PC_SRV_RT: Servo command output rate¶
Output rate of servo command messages
Range |
Units |
---|---|
1 - 500 |
hertz |
CAN_D3_TST_ Parameters¶
CAN_D3_TST_ID: CAN Test Index¶
Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.
Range |
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
CAN_D3_TST_LPR8: CANTester LoopRate¶
Selects the Looprate of Test methods
Units |
---|
microseconds |
CAN_D3_UC_ Parameters¶
CAN_D3_UC_NODE: UAVCAN node that is used for this network¶
UAVCAN node should be set implicitly
Range |
---|
1 - 250 |
CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN¶
Bitmask with one set for channel to be transmitted as a servo command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN¶
Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN
Bitmask |
||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_D3_UC_SRV_RT: Servo output rate¶
Maximum transmit rate for servo outputs
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D3_UC_OPTION: UAVCAN options¶
Option flags
Bitmask |
||||||
---|---|---|---|---|---|---|
|
CAN_D3_UC_NTF_RT: Notify State rate¶
Maximum transmit rate for Notify State Message
Range |
Units |
---|---|
1 - 200 |
hertz |
CAN_D3_UC_ESC_OF: ESC Output channels offset¶
Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth
Range |
---|
0 - 18 |
CAN_P1_ Parameters¶
CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P1_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
---|
10000 - 1000000 |
CAN_P2_ Parameters¶
CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P2_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
---|
10000 - 1000000 |
CAN_P3_ Parameters¶
CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface¶
Enabling this option enables use of CAN buses.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
CAN_P3_BITRATE: Bitrate of CAN interface¶
Bit rate can be set up to from 10000 to 1000000
Range |
---|
10000 - 1000000 |
CAN_SLCAN_ Parameters¶
CAN_SLCAN_CPORT: SLCAN Route¶
CAN Interface ID to be routed to SLCAN, 0 means no routing
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
CAN_SLCAN_SERNUM: SLCAN Serial Port¶
Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details
Values |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CAN_SLCAN_TIMOUT: SLCAN Timeout¶
Duration of inactivity after which SLCAN is switched back to original driver in seconds.
Range |
---|
0 - 127 |
CAN_SLCAN_SDELAY: SLCAN Start Delay¶
Duration after which slcan starts after setting SERNUM in seconds.
Range |
---|
0 - 127 |
CHUTE_ Parameters¶
CHUTE_ENABLED: Parachute release enabled or disabled¶
Parachute release enabled or disabled
Values |
||||||
---|---|---|---|---|---|---|
|
CHUTE_TYPE: Parachute release mechanism type (relay or servo)¶
Parachute release mechanism type (relay or servo)
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
CHUTE_SERVO_ON: Parachute Servo ON PWM value¶
Parachute Servo PWM value in microseconds when parachute is released
Increment |
Range |
Units |
---|---|---|
1 |
1000 - 2000 |
PWM in microseconds |
CHUTE_SERVO_OFF: Servo OFF PWM value¶
Parachute Servo PWM value in microseconds when parachute is not released
Increment |
Range |
Units |
---|---|---|
1 |
1000 - 2000 |
PWM in microseconds |
CHUTE_ALT_MIN: Parachute min altitude in meters above home¶
Parachute min altitude above home. Parachute will not be released below this altitude. 0 to disable alt check.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 32000 |
meters |
CHUTE_DELAY_MS: Parachute release delay¶
Delay in millseconds between motor stop and chute release
Increment |
Range |
Units |
---|---|---|
1 |
0 - 5000 |
milliseconds |
CHUTE_CRT_SINK: Critical sink speed rate in m/s to trigger emergency parachute¶
Release parachute when critical sink rate is reached
Increment |
Range |
Units |
---|---|---|
1 |
0 - 15 |
meters per second |
CHUTE_OPTIONS: Parachute options¶
Optional behaviour for parachute
Bitmask |
||||
---|---|---|---|---|
|
COMPASS_ Parameters¶
COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶
Offset to be added to the compass x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶
Offset to be added to the compass y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶
Offset to be added to the compass z-axis values to compensate for metal in the frame
Increment |
Range |
Units |
---|---|---|
1 |
-400 - 400 |
milligauss |
COMPASS_DEC: Compass declination¶
An angle to compensate between the true north and magnetic north
Increment |
Range |
Units |
---|---|---|
0.01 |
-3.142 - 3.142 |
radians |
COMPASS_LEARN: Learn compass offsets automatically¶
Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_USE: Use compass for yaw¶
Enable or disable the use of the compass (instead of the GPS) for determining heading
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_AUTODEC: Auto Declination¶
Enable or disable the automatic calculation of the declination based on gps location
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_MOTCT: Motor interference compensation type¶
Set motor interference compensation type to disabled, throttle or current. Do not change manually.
Calibration |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|
1 |
|
COMPASS_MOT_X: Motor interference compensation for body frame X axis¶
Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶
Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶
Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
---|---|---|
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_ORIENT: Compass orientation¶
The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERNAL: Compass is attached via an external cable¶
Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶
Offset to be added to compass2's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶
Offset to be added to compass2's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶
Offset to be added to compass2's z-axis values to compensate for metal in the frame
Increment |
Range |
Units |
---|---|---|
1 |
-400 - 400 |
milligauss |
COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis¶
Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis¶
Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis¶
Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
---|---|---|
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶
Offset to be added to compass3's x-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶
Offset to be added to compass3's y-axis values to compensate for metal in the frame
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-400 - 400 |
milligauss |
COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶
Offset to be added to compass3's z-axis values to compensate for metal in the frame
Increment |
Range |
Units |
---|---|---|
1 |
-400 - 400 |
milligauss |
COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis¶
Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis¶
Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Calibration |
Increment |
Range |
Units |
---|---|---|---|
1 |
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis¶
Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)
Increment |
Range |
Units |
---|---|---|
1 |
-1000 - 1000 |
milligauss per ampere |
COMPASS_DEV_ID: Compass device id¶
Compass device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID2: Compass2 device id¶
Second compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID3: Compass3 device id¶
Third compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_USE2: Compass2 used for yaw¶
Enable or disable the secondary compass for determining heading.
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_ORIENT2: Compass2 orientation¶
The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN2: Compass2 is attached via an external cable¶
Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
COMPASS_USE3: Compass3 used for yaw¶
Enable or disable the tertiary compass for determining heading.
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_ORIENT3: Compass3 orientation¶
The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.
Values |
||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_EXTERN3: Compass3 is attached via an external cable¶
Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
COMPASS_DIA_X: Compass soft-iron diagonal X component¶
DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶
DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶
DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶
ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶
ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶
ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶
DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶
DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶
DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶
ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶
ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶
ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶
DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶
DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶
DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶
ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶
ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
Calibration |
---|
1 |
COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶
ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
COMPASS_CAL_FIT: Compass calibration fitness¶
This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.
Increment |
Range |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
0.1 |
4 - 32 |
|
COMPASS_OFFS_MAX: Compass maximum offset¶
This sets the maximum allowed compass offset in calibration and arming checks
Increment |
Range |
---|---|
1 |
500 - 3000 |
COMPASS_TYPEMASK: Compass disable driver type mask¶
This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
Bitmask |
||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_FLTR_RNG: Range in which sample is accepted¶
This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.
Increment |
Range |
Units |
---|---|---|
1 |
0 - 100 |
percent |
COMPASS_AUTO_ROT: Automatically check orientation¶
When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
COMPASS_PRIO1_ID: Compass device id with 1st order priority¶
Compass device id with 1st order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO2_ID: Compass device id with 2nd order priority¶
Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.
COMPASS_PRIO3_ID: Compass device id with 3rd order priority¶
Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.
COMPASS_ENABLE: Enable Compass¶
Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_SCALE: Compass1 scale factor¶
Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
---|
0 - 1.3 |
COMPASS_SCALE2: Compass2 scale factor¶
Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
---|
0 - 1.3 |
COMPASS_SCALE3: Compass3 scale factor¶
Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done
Range |
---|
0 - 1.3 |
COMPASS_OPTIONS: Compass options¶
This sets options to change the behaviour of the compass
Bitmask |
||||
---|---|---|---|---|
|
COMPASS_DEV_ID4: Compass4 device id¶
Extra 4th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID5: Compass5 device id¶
Extra 5th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID6: Compass6 device id¶
Extra 6th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID7: Compass7 device id¶
Extra 7th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_DEV_ID8: Compass8 device id¶
Extra 8th compass's device id. Automatically detected, do not set manually
ReadOnly |
---|
True |
COMPASS_CUS_ROLL: Custom orientation roll offset¶
Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
COMPASS_CUS_PIT: Custom orientation pitch offset¶
Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
COMPASS_CUS_YAW: Custom orientation yaw offset¶
Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.
Increment |
Range |
Units |
---|---|---|
1 |
-180 - 180 |
degrees |
COMPASS_PMOT Parameters¶
COMPASS_PMOT_EN: per-motor compass correction enable¶
This enables per-motor compass corrections
Values |
||||||
---|---|---|---|---|---|---|
|
COMPASS_PMOT_EXP: per-motor exponential correction¶
This is the exponential correction for the power output of the motor for per-motor compass correction
Increment |
Range |
---|---|
0.01 |
0 - 2 |
COMPASS_PMOT1_X: Compass per-motor1 X¶
Compensation for X axis of motor1
COMPASS_PMOT1_Y: Compass per-motor1 Y¶
Compensation for Y axis of motor1
COMPASS_PMOT1_Z: Compass per-motor1 Z¶
Compensation for Z axis of motor1
COMPASS_PMOT2_X: Compass per-motor2 X¶
Compensation for X axis of motor2
COMPASS_PMOT2_Y: Compass per-motor2 Y¶
Compensation for Y axis of motor2
COMPASS_PMOT2_Z: Compass per-motor2 Z¶
Compensation for Z axis of motor2
COMPASS_PMOT3_X: Compass per-motor3 X¶
Compensation for X axis of motor3
COMPASS_PMOT3_Y: Compass per-motor3 Y¶
Compensation for Y axis of motor3
COMPASS_PMOT3_Z: Compass per-motor3 Z¶
Compensation for Z axis of motor3
COMPASS_PMOT4_X: Compass per-motor4 X¶
Compensation for X axis of motor4
COMPASS_PMOT4_Y: Compass per-motor4 Y¶
Compensation for Y axis of motor4
COMPASS_PMOT4_Z: Compass per-motor4 Z¶
Compensation for Z axis of motor4
EAHRS Parameters¶
EAHRS_TYPE: AHRS type¶
Type of AHRS device
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
EAHRS_RATE: AHRS data rate¶
Requested rate for AHRS device
Units |
---|
hertz |
EFI Parameters¶
EFI_TYPE: EFI communication type¶
What method of communication is used for EFI #1
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EFI_COEF1: EFI Calibration Coefficient 1¶
Used to calibrate fuel flow for MS protocol (Slope)
Range |
---|
0 - 1 |
EFI_COEF2: EFI Calibration Coefficient 2¶
Used to calibrate fuel flow for MS protocol (Offset)
Range |
---|
0 - 10 |
EK2_ Parameters¶
EK2_ENABLE: Enable EKF2¶
This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.
Values |
||||||
---|---|---|---|---|---|---|
|
EK2_GPS_TYPE: GPS mode control¶
This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 5.0 |
meters per second |
EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 5.0 |
meters per second |
EK2_VEL_I_GATE: GPS velocity innovation gate size¶
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)¶
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK2_POS_I_GATE: GPS position measurement gate size¶
This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_GLITCH_RAD: GPS glitch radius gate size (m)¶
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
Increment |
Range |
Units |
---|---|---|
5 |
10 - 100 |
meters |
EK2_ALT_SOURCE: Primary altitude sensor source¶
Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK2_ALT_M_NSE: Altitude measurement noise (m)¶
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK2_HGT_I_GATE: Height measurement gate size¶
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_HGT_DELAY: Height measurement delay (msec)¶
This is the number of msec that the Height measurements lag behind the inertial measurements.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 250 |
milliseconds |
EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.01 - 0.5 |
gauss |
EK2_MAG_CAL: Magnetometer default fusion mode¶
This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_MAG_I_GATE: Magnetometer measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 5.0 |
meters per second |
EK2_EAS_I_GATE: Airspeed measurement gate size¶
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_RNG_M_NSE: Range finder measurement noise (m)¶
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK2_RNG_I_GATE: Range finder measurement gate size¶
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_MAX_FLOW: Maximum valid optical flow rate¶
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
Increment |
Range |
Units |
---|---|---|
0.1 |
1.0 - 4.0 |
radians per second |
EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 1.0 |
radians per second |
EK2_FLOW_I_GATE: Optical Flow measurement gate size¶
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_FLOW_DELAY: Optical Flow measurement delay (msec)¶
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 127 |
milliseconds |
EK2_GYRO_P_NSE: Rate gyro noise (rad/s)¶
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
Increment |
Range |
Units |
---|---|---|
0.0001 |
0.0001 - 0.1 |
radians per second |
EK2_ACC_P_NSE: Accelerometer noise (m/s^2)¶
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.01 - 1.0 |
meters per square second |
EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.001 |
radians per square second |
EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)¶
This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.
Range |
Units |
---|---|
0.000001 - 0.001 |
hertz |
EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.005 |
meters per cubic second |
EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)¶
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.01 - 1.0 |
meters per square second |
EK2_WIND_PSCALE: Height rate to wind process noise scaler¶
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
Increment |
Range |
---|---|
0.1 |
0.0 - 1.0 |
EK2_GPS_CHECK: GPS preflight check¶
This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
Bitmask |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_IMU_MASK: Bitmask of active IMUs¶
1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_CHECK_SCALE: GPS accuracy check scaler (%)¶
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
Range |
Units |
---|---|
50 - 200 |
percent |
EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
Range |
Units |
---|---|
0.5 - 50.0 |
meters |
EK2_YAW_M_NSE: Yaw measurement noise (rad)¶
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 1.0 |
radians |
EK2_YAW_I_GATE: Yaw measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶
Sets the time constant of the output complementary filter/predictor in centi-seconds.
Increment |
Range |
Units |
---|---|---|
5 |
10 - 50 |
centiseconds |
EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.01 |
gauss per second |
EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.01 |
gauss per second |
EK2_RNG_USE_HGT: Range finder switch height percentage¶
Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
Increment |
Range |
Units |
---|---|---|
1 |
-1 - 70 |
percent |
EK2_TERR_GRAD: Maximum terrain gradient¶
Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.
Increment |
Range |
---|---|
0.01 |
0 - 0.2 |
EK2_BCN_M_NSE: Range beacon measurement noise (m)¶
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK2_BCN_I_GTE: Range beacon measurement gate size¶
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK2_BCN_DELAY: Range beacon measurement delay (msec)¶
This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 127 |
milliseconds |
EK2_RNG_USE_SPD: Range finder max ground speed¶
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
Increment |
Range |
Units |
---|---|---|
0.5 |
2.0 - 6.0 |
meters per second |
EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶
1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶
When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
EK2_FLOW_USE: Optical flow use bitmask¶
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
EK2_MAG_EF_LIM: EarthField error limit¶
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
Range |
Units |
---|---|
0 - 500 |
milligauss |
EK2_HRT_FILT: Height rate filter crossover frequency¶
Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
Range |
Units |
---|---|
0.1 - 30.0 |
hertz |
EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run¶
A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used¶
1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed¶
Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.
Increment |
Range |
---|---|
1 |
1 - 10 |
EK3_ Parameters¶
EK3_ENABLE: Enable EKF3¶
This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.
Values |
||||||
---|---|---|---|---|---|---|
|
EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 5.0 |
meters per second |
EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)¶
This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 5.0 |
meters per second |
EK3_VEL_I_GATE: GPS velocity innovation gate size¶
This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)¶
This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK3_POS_I_GATE: GPS position measurement gate size¶
This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_GLITCH_RAD: GPS glitch radius gate size (m)¶
This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.
Increment |
Range |
Units |
---|---|---|
5 |
10 - 100 |
meters |
EK3_ALT_M_NSE: Altitude measurement noise (m)¶
This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK3_HGT_I_GATE: Height measurement gate size¶
This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_HGT_DELAY: Height measurement delay (msec)¶
This is the number of msec that the Height measurements lag behind the inertial measurements.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 250 |
milliseconds |
EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)¶
This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.01 - 0.5 |
gauss |
EK3_MAG_CAL: Magnetometer default fusion mode¶
This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.
Values |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_MAG_I_GATE: Magnetometer measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)¶
This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 5.0 |
meters per second |
EK3_EAS_I_GATE: Airspeed measurement gate size¶
This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_RNG_M_NSE: Range finder measurement noise (m)¶
This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK3_RNG_I_GATE: Range finder measurement gate size¶
This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_MAX_FLOW: Maximum valid optical flow rate¶
This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter
Increment |
Range |
Units |
---|---|---|
0.1 |
1.0 - 4.0 |
radians per second |
EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)¶
This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 1.0 |
radians per second |
EK3_FLOW_I_GATE: Optical Flow measurement gate size¶
This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_FLOW_DELAY: Optical Flow measurement delay (msec)¶
This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 250 |
milliseconds |
EK3_GYRO_P_NSE: Rate gyro noise (rad/s)¶
This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
Increment |
Range |
Units |
---|---|---|
0.0001 |
0.0001 - 0.1 |
radians per second |
EK3_ACC_P_NSE: Accelerometer noise (m/s^2)¶
This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.01 - 1.0 |
meters per square second |
EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)¶
This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.001 |
radians per square second |
EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)¶
This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.005 |
meters per cubic second |
EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)¶
This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.01 - 2.0 |
meters per square second |
EK3_WIND_PSCALE: Height rate to wind process noise scaler¶
This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
Increment |
Range |
---|---|
0.1 |
0.0 - 2.0 |
EK3_GPS_CHECK: GPS preflight check¶
This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
Bitmask |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_IMU_MASK: Bitmask of active IMUs¶
1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_CHECK_SCALE: GPS accuracy check scaler (%)¶
This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.
Range |
Units |
---|---|
50 - 200 |
percent |
EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)¶
This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
Range |
Units |
---|---|
0.5 - 50.0 |
meters |
EK3_BETA_MASK: Bitmask controlling sidelip angle fusion¶
1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.
Bitmask |
||||||
---|---|---|---|---|---|---|
|
EK3_YAW_M_NSE: Yaw measurement noise (rad)¶
This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 1.0 |
radians |
EK3_YAW_I_GATE: Yaw measurement gate size¶
This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)¶
Sets the time constant of the output complementary filter/predictor in centi-seconds.
Increment |
Range |
Units |
---|---|---|
5 |
10 - 50 |
centiseconds |
EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)¶
This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.01 |
gauss per second |
EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)¶
This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.
Range |
Units |
---|---|
0.00001 - 0.01 |
gauss per second |
EK3_RNG_USE_HGT: Range finder switch height percentage¶
Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.
Increment |
Range |
Units |
---|---|---|
1 |
-1 - 70 |
percent |
EK3_TERR_GRAD: Maximum terrain gradient¶
Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference
Increment |
Range |
---|---|
0.01 |
0 - 0.2 |
EK3_BCN_M_NSE: Range beacon measurement noise (m)¶
This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 10.0 |
meters |
EK3_BCN_I_GTE: Range beacon measurement gate size¶
This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
Increment |
Range |
---|---|
25 |
100 - 1000 |
EK3_BCN_DELAY: Range beacon measurement delay (msec)¶
This is the number of msec that the range beacon measurements lag behind the inertial measurements.
Increment |
Range |
Units |
---|---|---|
10 |
0 - 250 |
milliseconds |
EK3_RNG_USE_SPD: Range finder max ground speed¶
The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.
Increment |
Range |
Units |
---|---|---|
0.5 |
2.0 - 6.0 |
meters per second |
EK3_ACC_BIAS_LIM: Accelerometer bias limit¶
The accelerometer bias state will be limited to +- this value
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 2.5 |
meters per square second |
EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion¶
1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction¶
When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
EK3_VIS_VERR_MIN: Visual odometry minimum velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
Increment |
Range |
Units |
---|---|---|
0.05 |
0.05 - 0.5 |
meters per second |
EK3_VIS_VERR_MAX: Visual odometry maximum velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.5 - 5.0 |
meters per second |
EK3_WENC_VERR: Wheel odometry velocity error¶
This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.
Increment |
Range |
Units |
---|---|---|
0.1 |
0.01 - 1.0 |
meters per second |
EK3_FLOW_USE: Optical flow use bitmask¶
Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
EK3_HRT_FILT: Height rate filter crossover frequency¶
Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.
Range |
Units |
---|---|
0.1 - 30.0 |
hertz |
EK3_MAG_EF_LIM: EarthField error limit¶
This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.
Range |
Units |
---|---|
0 - 500 |
milligauss |
EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run¶
1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used¶
A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.
Bitmask |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed¶
Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.
Increment |
Range |
---|---|
1 |
1 - 10 |
EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold¶
lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences
Increment |
Range |
---|---|
0.05 |
0.05 - 1 |
EK3_AFFINITY: EKF3 Sensor Affinity Options¶
These options control the affinity between sensor instances and EKF cores
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag¶
Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
Range |
Units |
---|---|
0.0 - 1000.0 |
kilograms per square meter |
EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag¶
Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.
Range |
Units |
---|---|
50.0 - 1000.0 |
kilograms per square meter |
EK3_DRAG_M_NSE: Observation noise for drag acceleration¶
This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters
Increment |
Range |
Units |
---|---|---|
0.1 |
0.1 - 2.0 |
meters per square second |
EK3_DRAG_MCOEF: Momentum coefficient for propeller drag¶
This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.
Increment |
Range |
Units |
---|---|---|
0.01 |
0.0 - 1.0 |
per second |
EK3_OGNM_TEST_SF: On ground not moving test scale factor¶
This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.
Increment |
Range |
---|---|
0.5 |
1.0 - 10.0 |
EK3_GND_EFF_DZ: Baro height ground effect dead zone¶
This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.
Increment |
Range |
---|---|
0.5 |
0.0 - 10.0 |
EK3_PRIMARY: Primary core number¶
The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.
Increment |
Range |
---|---|
1 |
0 - 2 |
EK3_SRC Parameters¶
EK3_SRC1_POSXY: Position Horizontal Source (Primary)¶
Position Horizontal Source (Primary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_VELXY: Velocity Horizontal Source¶
Velocity Horizontal Source
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_POSZ: Position Vertical Source¶
Position Vertical Source
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_VELZ: Velocity Vertical Source¶
Velocity Vertical Source
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC1_YAW: Yaw Source¶
Yaw Source
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_POSXY: Position Horizontal Source (Secondary)¶
Position Horizontal Source (Secondary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)¶
Velocity Horizontal Source (Secondary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_POSZ: Position Vertical Source (Secondary)¶
Position Vertical Source (Secondary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)¶
Velocity Vertical Source (Secondary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC2_YAW: Yaw Source (Secondary)¶
Yaw Source (Secondary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)¶
Position Horizontal Source (Tertiary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)¶
Velocity Horizontal Source (Tertiary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_POSZ: Position Vertical Source (Tertiary)¶
Position Vertical Source (Tertiary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)¶
Velocity Vertical Source (Tertiary)
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC3_YAW: Yaw Source (Tertiary)¶
Yaw Source (Tertiary)
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
EK3_SRC_OPTIONS: EKF Source Options¶
EKF Source Options
Bitmask |
||||
---|---|---|---|---|
|
FENCE_ Parameters¶
FENCE_ENABLE: Fence enable/disable¶
Allows you to enable (1) or disable (0) the fence functionality
Values |
||||||
---|---|---|---|---|---|---|
|
FENCE_TYPE: Fence Type¶
Enabled fence types held as bitmask
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
FENCE_ACTION: Fence Action¶
What action should be taken when fence is breached
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
FENCE_ALT_MAX: Fence Maximum Altitude¶
Maximum altitude allowed before geofence triggers
Increment |
Range |
Units |
---|---|---|
1 |
10 - 1000 |
meters |
FENCE_RADIUS: Circular Fence Radius¶
Circle fence radius which when breached will cause an RTL
Range |
Units |
---|---|
30 - 10000 |
meters |
FENCE_MARGIN: Fence Margin¶
Distance that autopilot's should maintain from the fence to avoid a breach
Range |
Units |
---|---|
1 - 10 |
meters |
FENCE_TOTAL: Fence polygon point total¶
Number of polygon points saved in eeprom (do not update manually)
Range |
---|
1 - 20 |
FENCE_ALT_MIN: Fence Minimum Altitude¶
Minimum altitude allowed before geofence triggers
Increment |
Range |
Units |
---|---|---|
1 |
-100 - 100 |
meters |
FENCE_RET_RALLY: Fence Return to Rally¶
Should the vehicle return to fence return point or rally point
Increment |
Range |
Values |
||||||
---|---|---|---|---|---|---|---|---|
1 |
0 - 1 |
|
FENCE_RET_ALT: Fence Return Altitude¶
Altitude the vehicle will transit to when a fence breach occurs
Increment |
Range |
Units |
---|---|---|
1 |
0 - 32767 |
meters |
FENCE_AUTOENABLE: Fence Auto-Enable¶
Auto-enable of fence
Increment |
Range |
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|
1 |
0 - 3 |
|
FFT_ Parameters¶
FFT_ENABLE: Enable¶
Enable Gyro FFT analyser
Values |
||||||
---|---|---|---|---|---|---|
|
FFT_MINHZ: Minimum Frequency¶
Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.
Range |
Units |
---|---|
20 - 400 |
hertz |
FFT_MAXHZ: Maximum Frequency¶
Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.
Range |
Units |
---|---|
20 - 495 |
hertz |
FFT_SAMPLE_MODE: Sample Mode¶
Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.
Range |
---|
0 - 4 |
FFT_WINDOW_SIZE: FFT window size¶
Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.
Range |
---|
32 - 1024 |
FFT_WINDOW_OLAP: FFT window overlap¶
Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.
Range |
---|
0 - 0.9 |
FFT_FREQ_HOVER: FFT learned hover frequency¶
The learned hover noise frequency
Range |
---|
0 - 250 |
FFT_THR_REF: FFT learned thrust reference¶
FFT learned thrust reference for the hover frequency and FFT minimum frequency.
Range |
---|
0.01 - 0.9 |
FFT_SNR_REF: FFT SNR reference threshold¶
FFT SNR reference threshold in dB at which a signal is determined to be present.
Range |
---|
0.0 - 100.0 |
FFT_ATT_REF: FFT attenuation for bandwidth calculation¶
FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.
Range |
---|
0 - 100 |
FFT_BW_HOVER: FFT learned bandwidth at hover¶
FFT learned bandwidth at hover for the attenuation frequencies.
Range |
---|
0 - 200 |
FFT_HMNC_FIT: FFT harmonic fit frequency threshold¶
FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.
Range |
---|
0 - 100 |
FFT_HMNC_PEAK: FFT harmonic peak target¶
The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).
Values |
||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FLOW Parameters¶
FLOW_TYPE: Optical flow sensor type¶
Optical flow sensor type
Values |
||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FLOW_FXSCALER: X axis optical flow scale factor correction¶
This sets the parts per thousand scale factor correction applied to the flow sensor X axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the X axis optical flow reading by 0.1%. Negative values reduce the scale factor.
Increment |
Range |
---|---|
1 |
-200 - +200 |
FLOW_FYSCALER: Y axis optical flow scale factor correction¶
This sets the parts per thousand scale factor correction applied to the flow sensor Y axis optical rate. It can be used to correct for variations in effective focal length. Each positive increment of 1 increases the scale factor applied to the Y axis optical flow reading by 0.1%. Negative values reduce the scale factor.
Increment |
Range |
---|---|
1 |
-200 - +200 |
FLOW_ORIENT_YAW: Flow sensor yaw alignment¶
Specifies the number of centi-degrees that the flow sensor is yawed relative to the vehicle. A sensor with its X-axis pointing to the right of the vehicle X axis has a positive yaw angle.
Increment |
Range |
Units |
---|---|---|
10 |
-17999 - +18000 |
centidegrees |
FLOW_POS_X: X position offset¶
X position of the optical flow sensor focal point in body frame. Positive X is forward of the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
FLOW_POS_Y: Y position offset¶
Y position of the optical flow sensor focal point in body frame. Positive Y is to the right of the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
FLOW_POS_Z: Z position offset¶
Z position of the optical flow sensor focal point in body frame. Positive Z is down from the origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
FLOW_ADDR: Address on the bus¶
This is used to select between multiple possible I2C addresses for some sensor types. For PX4Flow you can choose 0 to 7 for the 8 possible addresses on the I2C bus.
Range |
---|
0 - 127 |
FOLL Parameters¶
FOLL_ENABLE: Follow enable/disable¶
Enabled/disable following a target
Values |
||||||
---|---|---|---|---|---|---|
|
FOLL_SYSID: Follow target's mavlink system id¶
Follow target's mavlink system id
Range |
---|
0 - 255 |
FOLL_DIST_MAX: Follow distance maximum¶
Follow distance maximum. targets further than this will be ignored
Range |
Units |
---|---|
1 - 1000 |
meters |
FOLL_OFS_TYPE: Follow offset type¶
Follow offset type
Values |
||||||
---|---|---|---|---|---|---|
|
FOLL_OFS_X: Follow offsets in meters north/forward¶
Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE
Increment |
Range |
Units |
---|---|---|
1 |
-100 - 100 |
meters |
FOLL_OFS_Y: Follow offsets in meters east/right¶
Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE
Increment |
Range |
Units |
---|---|---|
1 |
-100 - 100 |
meters |
FOLL_OFS_Z: Follow offsets in meters down¶
Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle
Increment |
Range |
Units |
---|---|---|
1 |
-100 - 100 |
meters |
FOLL_YAW_BEHAVE: Follow yaw behaviour¶
Follow yaw behaviour
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
FOLL_POS_P: Follow position error P gain¶
Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
Increment |
Range |
---|---|
0.01 |
0.01 - 1.00 |
FOLL_ALT_TYPE: Follow altitude type¶
Follow altitude type
Values |
||||||
---|---|---|---|---|---|---|
|
FRSKY_ Parameters¶
FRSKY_UPLINK_ID: Uplink sensor id¶
Change the uplink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK1_ID: First downlink sensor id¶
Change the first extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK2_ID: Second downlink sensor id¶
Change the second extra downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_DNLINK_ID: Default downlink sensor id¶
Change the default downlink sensor id (SPort only)
Values |
||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
FRSKY_OPTIONS: FRSky Telemetry Options¶
A bitmask to set some FRSky Telemetry specific options
Bitmask |
||||
---|---|---|---|---|
|
GEN_ Parameters¶
GEN_TYPE: Generator type¶
Generator type
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
GPS Parameters¶
GPS_TYPE: 1st GPS type¶
GPS type of 1st GPS
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_TYPE2: 2nd GPS type¶
GPS type of 2nd GPS
Values |
||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_AUTO_SWITCH: Automatic Switchover Setting¶
Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS¶
Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_SBAS_MODE: SBAS Mode¶
This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_MIN_ELEV: Minimum elevation¶
This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.
Range |
Units |
---|---|
-100 - 90 |
degrees |
GPS_INJECT_TO: Destination for GPS_INJECT_DATA MAVLink packets¶
The GGS can send raw serial packets to inject data to multiple GPSes.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask¶
Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_RAW_DATA: Raw data logging¶
Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
GPS_GNSS_MODE: GNSS system configuration¶
Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_SAVE_CFG: Save GPS configuration¶
Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_GNSS_MODE2: GNSS system configuration¶
Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)
Bitmask |
||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
GPS_AUTO_CONFIG: Automatic GPS configuration¶
Controls if the autopilot should automatically configure the GPS based on the parameters and default settings
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_RATE_MS: GPS update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|---|
50 - 200 |
milliseconds |
|
GPS_RATE_MS2: GPS 2 update rate in milliseconds¶
Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.
Range |
Units |
Values |
||||||||
---|---|---|---|---|---|---|---|---|---|---|
50 - 200 |
milliseconds |
|
GPS_POS1_X: Antenna X position offset¶
X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_POS1_Y: Antenna Y position offset¶
Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_POS1_Z: Antenna Z position offset¶
Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_POS2_X: Antenna X position offset¶
X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_POS2_Y: Antenna Y position offset¶
Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_POS2_Z: Antenna Z position offset¶
Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_DELAY_MS: GPS delay in milliseconds¶
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Range |
Units |
---|---|
0 - 250 |
milliseconds |
GPS_DELAY_MS2: GPS 2 delay in milliseconds¶
Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.
Range |
Units |
---|---|
0 - 250 |
milliseconds |
GPS_BLEND_MASK: Multi GPS Blending Mask¶
Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
GPS_BLEND_TC: Blending time constant¶
Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.
Range |
Units |
---|---|
5.0 - 30.0 |
seconds |
GPS_DRV_OPTIONS: driver options¶
Additional backend specific options
Bitmask |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
GPS_COM_PORT: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF GPS
Increment |
Range |
---|---|
1 |
0 - 10 |
GPS_COM_PORT2: GPS physical COM port¶
The physical COM port on the connected device, currently only applies to SBF GPS
Increment |
Range |
---|---|
1 |
0 - 10 |
GPS_PRIMARY: Primary GPS¶
This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.
Increment |
Values |
||||||
---|---|---|---|---|---|---|---|
1 |
|
GPS_CAN_NODEID1: GPS Node ID 1¶
GPS Node id for discovered first.
ReadOnly |
---|
True |
GPS_CAN_NODEID2: GPS Node ID 2¶
GPS Node id for discovered second.
ReadOnly |
---|
True |
GPS1_CAN_OVRIDE: First DroneCAN GPS NODE ID¶
GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.
GPS2_CAN_OVRIDE: Second DroneCAN GPS NODE ID¶
GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.
GPS_MB1_ Parameters¶
GPS_MB1_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.
Values |
||||||
---|---|---|---|---|---|---|
|
GPS_MB1_OFS_X: Base antenna X position offset¶
X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_MB1_OFS_Y: Base antenna Y position offset¶
Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_MB1_OFS_Z: Base antenna Z position offset¶
Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_MB2_ Parameters¶
GPS_MB2_TYPE: Moving base type¶
Controls the type of moving base used if using moving base.
Values |
||||||
---|---|---|---|---|---|---|
|
GPS_MB2_OFS_X: Base antenna X position offset¶
X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_MB2_OFS_Y: Base antenna Y position offset¶
Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GPS_MB2_OFS_Z: Base antenna Z position offset¶
Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
GRIP_ Parameters¶
GRIP_ENABLE: Gripper Enable/Disable¶
Gripper enable/disable
Values |
||||||
---|---|---|---|---|---|---|
|
GRIP_TYPE: Gripper Type¶
Gripper enable/disable
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
GRIP_GRAB: Gripper Grab PWM¶
PWM value in microseconds sent to Gripper to initiate grabbing the cargo
Range |
Units |
---|---|
1000 - 2000 |
PWM in microseconds |
GRIP_RELEASE: Gripper Release PWM¶
PWM value in microseconds sent to Gripper to release the cargo
Range |
Units |
---|---|
1000 - 2000 |
PWM in microseconds |
GRIP_NEUTRAL: Neutral PWM¶
PWM value in microseconds sent to grabber when not grabbing or releasing
Range |
Units |
---|---|
1000 - 2000 |
PWM in microseconds |
GRIP_REGRAB: Gripper Regrab interval¶
Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable
Range |
Units |
---|---|
0 - 255 |
seconds |
GRIP_CAN_ID: EPM UAVCAN Hardpoint ID¶
Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface
Range |
---|
0 - 255 |
GUIDED_ Parameters¶
GUIDED_P: PID Proportional Gain¶
P Gain which produces an output value that is proportional to the current error value
GUIDED_I: PID Integral Gain¶
I Gain which produces an output that is proportional to both the magnitude and the duration of the error
GUIDED_D: PID Derivative Gain¶
D Gain which produces an output that is proportional to the rate of change of the error
GUIDED_FF: FF FeedForward Gain¶
FF Gain which produces an output value that is proportional to the demanded input
GUIDED_IMAX: PID Integral Maximum¶
The maximum/minimum value that the I term can output
GUIDED_FLTT: PID Target filter frequency in Hz¶
Target filter frequency in Hz
Units |
---|
hertz |
GUIDED_FLTE: PID Error filter frequency in Hz¶
Error filter frequency in Hz
Units |
---|
hertz |
GUIDED_FLTD: PID Derivative term filter frequency in Hz¶
Derivative filter frequency in Hz
Units |
---|
hertz |
GUIDED_SMAX: Slew rate limit¶
Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
Increment |
Range |
---|---|
0.5 |
0 - 200 |
ICE_ Parameters¶
ICE_ENABLE: Enable ICEngine control¶
This enables internal combustion engine control
Values |
||||||
---|---|---|---|---|---|---|
|
ICE_START_CHAN: Input channel for engine start¶
This is an RC input channel for requesting engine start. Engine will try to start when channel is at or above 1700. Engine will stop when channel is at or below 1300. Between 1301 and 1699 the engine will not change state unless a MAVLink command or mission item commands a state change, or the vehicle is disarmed. See ICE_STARTCHN_MIN parameter to change engine stop PWM value and/or to enable debouncing of the START_CH to avoid accidental engine kills due to noise on channel.
Values |
||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
ICE_STARTER_TIME: Time to run starter¶
This is the number of seconds to run the starter when trying to start the engine
Range |
Units |
---|---|
0.1 - 5 |
seconds |
ICE_START_DELAY: Time to wait between starts¶
Delay between start attempts
Range |
Units |
---|---|
1 - 10 |
seconds |
ICE_RPM_THRESH: RPM threshold¶
This is the measured RPM above which the engine is considered to be running
Range |
---|
100 - 100000 |
ICE_PWM_IGN_ON: PWM value for ignition on¶
This is the value sent to the ignition channel when on
Range |
---|
1000 - 2000 |
ICE_PWM_IGN_OFF: PWM value for ignition off¶
This is the value sent to the ignition channel when off
Range |
---|
1000 - 2000 |
ICE_PWM_STRT_ON: PWM value for starter on¶
This is the value sent to the starter channel when on
Range |
---|
1000 - 2000 |
ICE_PWM_STRT_OFF: PWM value for starter off¶
This is the value sent to the starter channel when off
Range |
---|
1000 - 2000 |
ICE_RPM_CHAN: RPM instance channel to use¶
This is which of the RPM instances to use for detecting the RPM of the engine
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
ICE_START_PCT: Throttle percentage for engine start¶
This is the percentage throttle output for engine start
Range |
---|
0 - 100 |
ICE_IDLE_PCT: Throttle percentage for engine idle¶
This is the minimum percentage throttle output while running, this includes being disarmed, but not safe
Range |
---|
0 - 100 |
ICE_IDLE_RPM: RPM Setpoint for Idle Governor¶
This configures the RPM that will be commanded by the idle governor. Set to -1 to disable
ICE_IDLE_DB: Deadband for Idle Governor¶
This configures the deadband that is tolerated before adjusting the idle setpoint
ICE_IDLE_SLEW: Slew Rate for idle control¶
This configures the slewrate used to adjust the idle setpoint in percentage points per second
ICE_OPTIONS: ICE options¶
Options for ICE control
Bitmask |
||||
---|---|---|---|---|
|
ICE_STARTCHN_MIN: Input channel for engine start minimum PWM¶
This is a minimum PWM value for engine start channel for an engine stop to be commanded. Setting this value will avoid RC input glitches with low PWM values from causing an unwanted engine stop. A value of zero means any PWM below 1300 triggers an engine stop.
Range |
---|
0 - 1300 |
INS_ Parameters¶
INS_GYROFFS_X: Gyro offsets of X axis¶
Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYROFFS_Y: Gyro offsets of Y axis¶
Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYROFFS_Z: Gyro offsets of Z axis¶
Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR2OFFS_X: Gyro2 offsets of X axis¶
Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR2OFFS_Y: Gyro2 offsets of Y axis¶
Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR2OFFS_Z: Gyro2 offsets of Z axis¶
Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR3OFFS_X: Gyro3 offsets of X axis¶
Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR3OFFS_Y: Gyro3 offsets of Y axis¶
Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_GYR3OFFS_Z: Gyro3 offsets of Z axis¶
Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations
Calibration |
Units |
---|---|
1 |
radians per second |
INS_ACCSCAL_X: Accelerometer scaling of X axis¶
Accelerometer scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACCSCAL_Y: Accelerometer scaling of Y axis¶
Accelerometer scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACCSCAL_Z: Accelerometer scaling of Z axis¶
Accelerometer scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACCOFFS_X: Accelerometer offsets of X axis¶
Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACCOFFS_Y: Accelerometer offsets of Y axis¶
Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACCOFFS_Z: Accelerometer offsets of Z axis¶
Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC2SCAL_X: Accelerometer2 scaling of X axis¶
Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis¶
Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis¶
Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC2OFFS_X: Accelerometer2 offsets of X axis¶
Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis¶
Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis¶
Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC3SCAL_X: Accelerometer3 scaling of X axis¶
Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis¶
Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis¶
Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine
Calibration |
Range |
---|---|
1 |
0.8 - 1.2 |
INS_ACC3OFFS_X: Accelerometer3 offsets of X axis¶
Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis¶
Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis¶
Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations
Calibration |
Range |
Units |
---|---|---|
1 |
-3.5 - 3.5 |
meters per square second |
INS_GYRO_FILTER: Gyro filter cutoff frequency¶
Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Range |
Units |
---|---|
0 - 256 |
hertz |
INS_ACCEL_FILTER: Accel filter cutoff frequency¶
Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)
Range |
Units |
---|---|
0 - 256 |
hertz |
INS_USE: Use first IMU for attitude, velocity and position estimates¶
Use first IMU for attitude, velocity and position estimates
Values |
||||||
---|---|---|---|---|---|---|
|
INS_USE2: Use second IMU for attitude, velocity and position estimates¶
Use second IMU for attitude, velocity and position estimates
Values |
||||||
---|---|---|---|---|---|---|
|
INS_USE3: Use third IMU for attitude, velocity and position estimates¶
Use third IMU for attitude, velocity and position estimates
Values |
||||||
---|---|---|---|---|---|---|
|
INS_STILL_THRESH: Stillness threshold for detecting if we are moving¶
Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5
Range |
---|
0.05 - 50 |
INS_GYR_CAL: Gyro Calibration scheme¶
Conrols when automatic gyro calibration is performed
Values |
||||||
---|---|---|---|---|---|---|
|
INS_TRIM_OPTION: Accel cal trim option¶
Specifies how the accel cal routine determines the trims
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_ACC_BODYFIX: Body-fixed accelerometer¶
The body-fixed accelerometer to be used for trim calculation
Values |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_POS1_X: IMU accelerometer X position¶
X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS1_Y: IMU accelerometer Y position¶
Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS1_Z: IMU accelerometer Z position¶
Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS2_X: IMU accelerometer X position¶
X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS2_Y: IMU accelerometer Y position¶
Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS2_Z: IMU accelerometer Z position¶
Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS3_X: IMU accelerometer X position¶
X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Range |
Units |
---|---|
-10 - 10 |
meters |
INS_POS3_Y: IMU accelerometer Y position¶
Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_POS3_Z: IMU accelerometer Z position¶
Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.
Increment |
Range |
Units |
---|---|---|
0.01 |
-5 - 5 |
meters |
INS_GYR_ID: Gyro ID¶
Gyro sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_GYR2_ID: Gyro2 ID¶
Gyro2 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_GYR3_ID: Gyro3 ID¶
Gyro3 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_ACC_ID: Accelerometer ID¶
Accelerometer sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_ACC2_ID: Accelerometer2 ID¶
Accelerometer2 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_ACC3_ID: Accelerometer3 ID¶
Accelerometer3 sensor ID, taking into account its type, bus and instance
ReadOnly |
---|
True |
INS_FAST_SAMPLE: Fast sampling mask¶
Mask of IMUs to enable fast sampling on, if available
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_ENABLE_MASK: IMU enable mask¶
Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled¶
Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.
Values |
||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer¶
Temperature that the 1st accelerometer was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope¶
Temperature that the 1st gyroscope was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer¶
Temperature that the 2nd accelerometer was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope¶
Temperature that the 2nd gyroscope was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer¶
Temperature that the 3rd accelerometer was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope¶
Temperature that the 3rd gyroscope was calibrated at
Calibration |
Units |
---|---|
1 |
degrees Celsius |
INS_TCAL_OPTIONS: Options for temperature calibration¶
This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.
Bitmask |
||||
---|---|---|---|---|
|
INS_HNTC2_ Parameters¶
INS_HNTC2_ENABLE: Harmonic Notch Filter enable¶
Harmonic Notch Filter enable
Values |
||||||
---|---|---|---|---|---|---|
|
INS_HNTC2_FREQ: Harmonic Notch Filter base frequency¶
Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.
Range |
Units |
---|---|
10 - 495 |
hertz |
INS_HNTC2_BW: Harmonic Notch Filter bandwidth¶
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Range |
Units |
---|---|
5 - 250 |
hertz |
INS_HNTC2_ATT: Harmonic Notch Filter attenuation¶
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Range |
Units |
---|---|
5 - 50 |
decibel |
INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics¶
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.
Bitmask |
||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
INS_HNTC2_REF: Harmonic Notch Filter reference value¶
A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.
Range |
---|
0.0 - 1.0 |
INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode¶
Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.
Range |
Values |
||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|
0 - 4 |
|
INS_HNTC2_OPTS: Harmonic Notch Filter options¶
Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz.
Bitmask |
||||||||
---|---|---|---|---|---|---|---|---|
|
INS_HNTCH_ Parameters¶
INS_HNTCH_ENABLE: Harmonic Notch Filter enable¶
Harmonic Notch Filter enable
Values |
||||||
---|---|---|---|---|---|---|
|
INS_HNTCH_FREQ: Harmonic Notch Filter base frequency¶
Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.
Range |
Units |
---|---|
10 - 495 |
hertz |
INS_HNTCH_BW: Harmonic Notch Filter bandwidth¶
Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.
Range |
Units |
---|---|
5 - 250 |
hertz |
INS_HNTCH_ATT: Harmonic Notch Filter attenuation¶
Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.
Range |
Units |
---|---|
5 - 50 |
decibel |
INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics¶
Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A maximum of 3 harmonics can be used at any one time.
Bitmask |
||
---|---|---|
|