Complete Parameter List¶
Full Parameter List of Plane latest V4.3.0dev
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 |
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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 |
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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 |
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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 |
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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 |
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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 |
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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)
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FLTMODE6: FlightMode6¶
Flight mode for switch position 6 (1750 to 2049)
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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 | ||||||
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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 |
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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. See the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
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. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
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. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
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 | ||||||||
---|---|---|---|---|---|---|---|---|
|
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 | ||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 | ||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 offset 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 offset 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 | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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 | ||||||||
---|---|---|---|---|---|---|---|---|
|
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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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_DRAG_BCOEF_X and EK3_DRAG_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 | ||||||||||||||||||||||||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
|
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_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_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_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_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_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_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_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_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_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 |
---|
-8388608 - 8388607 |
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_SAFETYOPTION: Options for safety button behavior¶
This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed
Bitmask | ||||||||||
---|---|---|---|---|---|---|---|---|---|---|
|
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
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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 | ||||||
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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 | ||||||||||||||||||||
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BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶
Channel to show telemetry RSSI value as received by TX
Range |
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0 - 16 |
BRD_RADIO_TPPSCH: Telemetry PPS channel¶
Channel to show telemetry packets-per-second value, as received at TX
Range |
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0 - 16 |
BRD_RADIO_TXMAX: Transmitter transmit power¶
Set transmitter maximum transmit power (from 1 to 8)
Range |
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1 - 8 |
BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶
Set transmitter buzzer note adjustment (adjust frequency up)
Range |
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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 |
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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 |
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0 - 31 |
BRD_RTC Parameters¶
BRD_RTC_TYPES: Allowed sources of RTC time¶
Specifies which sources of UTC time will be accepted
Bitmask | ||||||||
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BRD_RTC_TZ_MIN: Timezone offset from UTC¶
Adds offset in +- minutes from UTC to calculate local time
Range |
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-720 - +840 |
BTN_ Parameters¶
BTN_ENABLE: Enable button reporting¶
This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible
Values | ||||||
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BTN_PIN1: First button Pin¶
Digital pin number for first button input. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values | ||||||||||||||||
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BTN_PIN2: Second button Pin¶
Digital pin number for second button input. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values | ||||||||||||||||
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BTN_PIN3: Third button Pin¶
Digital pin number for third button input. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values | ||||||||||||||||
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BTN_PIN4: Fourth button Pin¶
Digital pin number for fourth button input. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot.
Values | ||||||||||||||||
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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 |
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0 - 3600 |
BTN_OPTIONS1: Button Pin 1 Options¶
Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Bitmask | ||||||
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BTN_OPTIONS2: Button Pin 2 Options¶
Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Bitmask | ||||||
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BTN_OPTIONS3: Button Pin 3 Options¶
Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Bitmask | ||||||
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BTN_OPTIONS4: Button Pin 4 Options¶
Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. If PWM is not detected or is less than 800us or above 2200us the button will interpreted as low. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.
Bitmask | ||||||
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BTN_FUNC1: Button Pin 1 RC Channel function¶
Auxiliary RC Options function executed on pin change
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BTN_FUNC2: Button Pin 2 RC Channel function¶
Auxiliary RC Options function executed on pin change
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BTN_FUNC3: Button Pin 3 RC Channel function¶
Auxiliary RC Options function executed on pin change
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BTN_FUNC4: Button Pin 4 RC Channel function¶
Auxiliary RC Options function executed on pin change
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CAM_ Parameters¶
CAM_TRIGG_TYPE: Camera shutter (trigger) type¶
how to trigger the camera to take a picture
Values | ||||||||
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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 |
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0 - 50 | deciseconds |
CAM_SERVO_ON: Servo ON PWM value¶
PWM value in microseconds to move servo to when shutter is activated
Range | Units |
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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 |
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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 |
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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 | ||||||
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CAM_MIN_INTERVAL: Minimum time between photos¶
Postpone shooting if previous picture was taken less than preset time(ms) ago.
Range | Units |
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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 |
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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. Some common values are given, but see the Wiki’s “GPIOs” page for how to determine the pin number for a given autopilot. See also the CAM_FEEDBACK_POL option.
Values | ||
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