ArduPilot Custom Firmware Builder¶
As the ArduPilot software evolves through community contributions and development efforts, it’s expanding rapidly with many new features being added. However, not all users need every feature. Depending on their specific requirements and applications, users might prefer to exclude certain features from the software.
To address this need, we have developed the Custom Firmware Builder, a web application hosted at custom.ardupilot.org. This process helps in reducing the firmware size, making it easier to fit into flight control units (FCUs) with limited flash memory. It also benefits our testers, allowing them to test specific features without needing to upgrade their flight controllers due to space constraints.
The source code of the custom firmware builder can be found here.
Submitting a build request¶
To submit a build request, follow these steps:
Click the ‘Add a build’ button located at the top right corner of the homepage.
Choose the vehicle, version, and board,in that order, for which you want to build the firmware.
Select the features you wish to include in the firmware
The default features for the board/vehicle will automatically be selected
Some features depend on other features so when a feature is selected, all its dependencies will be automatically selected but if the feature is later deselected, the dependencies are not automatically deselected
It is possible to select a set of features that will not fit on a board which will cause the build will fail.
Click the ‘Generate’ button. You will be redirected to the homepage, and a build log for the request you just submitted will appear.
Once the build is complete, click the ‘folder’ icon next to your build request entry in the build list table. This will take you to the directory on the server where your build artifacts are hosted. Download the .apj file
Use your GCS to install the .apj file onto your autopilot. If using Mission Planner, open the Install Firmware and click then “Load custom firmware” link
Versions¶
Latest¶
This is the current development branch of ArduPilot. It includes new features, enhancements, clean-ups, etc. but has not been through a release cycle of beta testing. It has been alpha tested and thoroughly tested in ArduPilot’s Continuous Integration auto-test suite. Many experienced users select this to get the latest features but it has the highest risk, in terms of potential bugs.
Beta¶
This is a release of the development branch used for widespread testing and feedback. While the risk of major issues is low, it is expected that minor behavioral deviations may pop up. These are normally addressed in later beta releases of a major new release before declaring the code as a stable release.
Stable¶
These are fully released versions of the code. There are usually several minor releases for each major release number which correct any anomalies found during the beta testing phases. These releases, have the lowest risk. It is recommended that the highest numbered major/minor release be used in a given release sequence, unless an older version is needed.
Guide to Size Impacts¶
Often, the custom build server is used to create firmware with features that have been removed in the standard firmware to conserve flash space, but desired by the user. If a build fails to complete due to lack of flash, the user may remove features/sensors that are not needed in order to make room for those additional items wanted. In order to facilitate those choices, the table below shows what impact a feature’s removal has on flash size. Note that a removed feature in this list automatically removed all features dependent upon it.
Note
the exact numbers of bytes will change slightly over time due to code changes, but this table should be accurate enough to make decisions on removal candidates to gain flash space.
FEATURE |
PLANE |
COPTER |
ROVER |
|---|---|---|---|
AP_SCRIPTING_ENABLED |
175800 |
182160 |
171688 |
HAL_NAVEKF3_AVAILABLE |
171392 |
171400 |
170784 |
HAL_QUADPLANE_ENABLED |
139776 |
na |
na |
HAL_ENABLE_DRONECAN_DRIVERS |
97480 |
96120 |
95936 |
HAL_LOGGING_ENABLED |
88792 |
95704 |
86400 |
HAL_MOUNT_ENABLED |
67268 |
67300 |
67116 |
AP_RANGEFINDER_ENABLED |
46568 |
48056 |
46272 |
HAL_GYROFFT_ENABLED |
42396 |
42308 |
41772 |
OSD_ENABLED |
40992 |
40568 |
40472 |
AP_RCPROTOCOL_ENABLED |
35888 |
35888 |
35904 |
AP_FILESYSTEM_ROMFS_ENABLED |
32920 |
32912 |
32912 |
HAL_MSP_ENABLED |
31848 |
31808 |
31816 |
AP_BOOTLOADER_FLASHING_ENABLED |
31648 |
31648 |
31640 |
AP_OPTICALFLOW_ENABLED |
29232 |
33816 |
29216 |
HAL_EXTERNAL_AHRS_ENABLED |
29120 |
29112 |
29008 |
HAL_ADSB_ENABLED |
25760 |
25800 |
19112 |
AP_AIRSPEED_ENABLED |
25440 |
22984 |
23468 |
AP_CAMERA_ENABLED |
25192 |
25192 |
25192 |
AP_FRSKY_TELEM_ENABLED |
24504 |
24288 |
24376 |
AP_FRSKY_SPORT_TELEM_ENABLED |
22088 |
21952 |
22040 |
AP_FRSKY_SPORT_PASSTHROUGH_ENABLED |
18376 |
18240 |
18328 |
HAL_WITH_MSP_DISPLAYPORT |
18328 |
18248 |
18240 |
AP_FENCE_ENABLED |
17488 |
50360 |
44748 |
HAL_SOLO_GIMBAL_ENABLED |
17432 |
17192 |
17424 |
HAL_EFI_ENABLED |
14724 |
14816 |
14784 |
COMPASS_CAL_ENABLED |
14624 |
14592 |
14600 |
EK3_FEATURE_OPTFLOW_FUSION |
12824 |
12816 |
12832 |
AP_GPS_UBLOX_ENABLED |
12504 |
12368 |
12440 |
AP_RCPROTOCOL_CRSF_ENABLED |
11648 |
11640 |
11648 |
AP_BARO_PROBE_EXTERNAL_I2C_BUSES |
11296 |
11296 |
11296 |
OSD_PARAM_ENABLED |
11116 |
11596 |
8152 |
HAL_VISUALODOM_ENABLED |
10616 |
10520 |
10648 |
AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED |
10328 |
10344 |
10224 |
HAL_CRSF_TELEM_ENABLED |
9680 |
9680 |
9680 |
AP_RPM_ENABLED |
9616 |
5504 |
5648 |
HAL_MOUNT_XACTI_ENABLED |
8984 |
8968 |
8976 |
AP_VIDEOTX_ENABLED |
8956 |
9036 |
9060 |
HAL_PICCOLO_CAN_ENABLE |
8920 |
8920 |
8920 |
AP_BEACON_ENABLED |
8840 |
14424 |
14440 |
AP_RCPROTOCOL_SRXL2_ENABLED |
8592 |
8584 |
8584 |
HAL_GENERATOR_ENABLED |
8424 |
8544 |
8416 |
HAL_ADSB_SAGETECH_MXS_ENABLED |
8376 |
8376 |
8592 |
HAL_INS_TEMPERATURE_CAL_ENABLE |
7952 |
8040 |
8000 |
AC_PRECLAND_ENABLED |
7832 |
10144 |
8968 |
HAL_SOARING_ENABLED |
7656 |
na |
na |
HAL_PROXIMITY_ENABLED |
7272 |
26824 |
25472 |
HAL_MOUNT_TOPOTEK_ENABLED |
7092 |
7092 |
7092 |
AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED |
6368 |
9824 |
5128 |
AP_GPS_NMEA_ENABLED |
6176 |
6176 |
6184 |
HAL_MOUNT_SIYI_ENABLED |
6000 |
5992 |
5992 |
HAL_LANDING_DEEPSTALL_ENABLED |
5712 |
120 |
120 |
AP_CAMERA_RUNCAM_ENABLED |
5616 |
5600 |
5592 |
AP_OPTICALFLOW_PIXART_ENABLED |
5536 |
5536 |
5536 |
AP_SERVO_TELEM_ENABLED |
5520 |
4864 |
5344 |
GPS_MOVING_BASELINE |
5096 |
5040 |
5088 |
AP_NOTIFY_TONEALARM_ENABLED |
4992 |
4984 |
4984 |
EK3_FEATURE_DRAG_FUSION |
4984 |
4984 |
4984 |
AP_GPS_SBF_ENABLED |
4904 |
4904 |
4904 |
AP_EXTERNAL_AHRS_VECTORNAV_ENABLED |
4824 |
4816 |
4832 |
HAL_MOUNT_VIEWPRO_ENABLED |
4812 |
4812 |
4804 |
AP_GPS_SBP_ENABLED |
4792 |
4864 |
4880 |
AP_MAVLINK_FTP_ENABLED |
4656 |
4648 |
4648 |
AP_CRASHDUMP_ENABLED |
4652 |
4636 |
4644 |
AP_ICENGINE_ENABLED |
4600 |
144 |
144 |
HAL_SPEKTRUM_TELEM_ENABLED |
4576 |
4576 |
4576 |
AP_RELAY_ENABLED |
4464 |
4376 |
4528 |
AP_SERIALMANAGER_REGISTER_ENABLED |
4376 |
4448 |
4456 |
AP_PROXIMITY_DRONECAN_ENABLED |
4248 |
2024 |
2024 |
HAL_DISPLAY_ENABLED |
4176 |
4168 |
4168 |
AP_BATTERY_SMBUS_ENABLED |
4172 |
4172 |
4172 |
AP_RANGEFINDER_VL53L1X_ENABLED |
4160 |
4152 |
4152 |
AP_QUICKTUNE_ENABLED |
4136 |
na |
na |
AP_TUNING_ENABLED |
4072 |
na |
na |
AP_ADVANCEDFAILSAFE_ENABLED |
4032 |
472 |
472 |
AP_CAN_SLCAN_ENABLED |
4016 |
4096 |
4032 |
AP_RCPROTOCOL_GHST_ENABLED |
3680 |
3672 |
3672 |
HAL_WITH_FRSKY_TELEM_BIDIRECTIONAL |
3632 |
3496 |
3592 |
AP_CAMERA_INFO_FROM_SCRIPT_ENABLED |
3480 |
3480 |
3480 |
HAL_ADSB_UCP_ENABLED |
3424 |
3416 |
3416 |
AP_FETTEC_ONEWIRE_ENABLED |
3312 |
3296 |
3248 |
EK3_FEATURE_EXTERNAL_NAV |
3272 |
3272 |
3272 |
AP_FILESYSTEM_PARAM_ENABLED |
3208 |
3208 |
3208 |
AP_RANGEFINDER_VL53L0X_ENABLED |
3200 |
3200 |
3200 |
AP_SMARTAUDIO_ENABLED |
3160 |
3144 |
3144 |
AP_GPS_BLENDED_ENABLED |
3096 |
3096 |
3096 |
HAL_MSP_OPTICALFLOW_ENABLED |
2944 |
2952 |
2952 |
AP_COMPASS_DRONECAN_ENABLED |
2872 |
2872 |
2872 |
HAL_MSP_RANGEFINDER_ENABLED |
2856 |
2864 |
2864 |
AP_DRONECAN_SERIAL_ENABLED |
2800 |
2800 |
2800 |
AP_DRONECAN_HOBBYWING_ESC_SUPPORT |
2792 |
2792 |
2792 |
HAL_RALLY_ENABLED |
2768 |
2848 |
3016 |
AP_COMPASS_BMM350_ENABLED |
2656 |
2656 |
2656 |
AP_FOLLOW_ENABLED |
2608 |
4448 |
3928 |
AP_FILESYSTEM_SYS_ENABLED |
2576 |
2576 |
2568 |
MODE_AUTOLAND_ENABLED |
2488 |
na |
na |
HAL_ADSB_SAGETECH_ENABLED |
2472 |
2464 |
2464 |
AP_AIRSPEED_DRONECAN_ENABLED |
2456 |
2456 |
2456 |
AP_COMPASS_HMC5843_ENABLED |
2456 |
2448 |
2448 |
AP_GENERATOR_IE_2400_ENABLED |
2392 |
2392 |
2392 |
AP_DRONECAN_SEND_GPS |
2360 |
2352 |
2352 |
AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED |
2336 |
2336 |
2336 |
AP_GPS_SBP2_ENABLED |
2320 |
2376 |
2440 |
AP_RANGEFINDER_LWI2C_ENABLED |
2320 |
2320 |
2320 |
AP_GHST_TELEM_ENABLED |
2304 |
2304 |
2304 |
AP_BATTERY_INA2XX_ENABLED |
2288 |
2280 |
2280 |
HAL_MSP_SENSORS_ENABLED |
2288 |
2288 |
2288 |
AP_AIRSPEED_MSP_ENABLED |
2272 |
2272 |
2272 |
AP_BARO_MSP_ENABLED |
2272 |
2280 |
2280 |
AP_COMPASS_MSP_ENABLED |
2272 |
2280 |
2280 |
HAL_MSP_GPS_ENABLED |
2272 |
2280 |
2280 |
AP_PLANE_OFFBOARD_GUIDED_SLEW_ENABLED |
2264 |
na |
na |
AP_AIRSPEED_SDP3X_ENABLED |
2256 |
2248 |
2256 |
AP_FILESYSTEM_MISSION_ENABLED |
2200 |
2200 |
2200 |
AP_GPS_GSOF_ENABLED |
2192 |
2184 |
2184 |
AP_FILTER_ENABLED |
2168 |
2128 |
2136 |
AP_GENERATOR_RICHENPOWER_ENABLED |
2168 |
2248 |
2168 |
HAL_HIGH_LATENCY2_ENABLED |
2168 |
2024 |
1920 |
AP_COMPASS_LIS3MDL_ENABLED |
2128 |
2128 |
2128 |
AP_COMPASS_MMC3416_ENABLED |
2120 |
2112 |
2112 |
AP_BARO_DRONECAN_ENABLED |
2080 |
2080 |
2080 |
AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED |
2064 |
2072 |
2056 |
AP_GPS_NMEA_UNICORE_ENABLED |
2008 |
2000 |
2000 |
AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED |
1976 |
1976 |
1976 |
HAL_BUTTON_ENABLED |
1960 |
1984 |
2072 |
AP_EFI_SERIAL_MS_ENABLED |
1944 |
1936 |
1936 |
AP_ROBOTISSERVO_ENABLED |
1936 |
1872 |
1960 |
HAL_PARACHUTE_ENABLED |
1912 |
1824 |
616 |
HAL_MOUNT_SERVO_ENABLED |
1880 |
1688 |
1688 |
AP_LANDINGGEAR_ENABLED |
1824 |
1360 |
na |
AP_EFI_DRONECAN_ENABLED |
1752 |
1752 |
1752 |
AP_VOLZ_ENABLED |
1752 |
2048 |
1840 |
AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED |
1744 |
1736 |
1736 |
AP_SERVORELAYEVENTS_ENABLED |
1696 |
1712 |
1712 |
AP_EFI_CURRAWONG_ECU_ENABLED |
1680 |
1672 |
1672 |
AP_RSSI_ENABLED |
1672 |
1728 |
1808 |
AP_COMPASS_IST8310_ENABLED |
1656 |
1656 |
1656 |
AP_EFI_SERIAL_HIRTH_ENABLED |
1656 |
1688 |
1648 |
AP_AIRSPEED_MS4525_ENABLED |
1648 |
1640 |
1640 |
AP_BARO_BMP085_ENABLED |
1648 |
1648 |
1648 |
AP_RANGEFINDER_WASP_ENABLED |
1648 |
1640 |
1640 |
AP_GRIPPER_ENABLED |
1644 |
2068 |
1756 |
HAL_NMEA_OUTPUT_ENABLED |
1632 |
1688 |
1688 |
AP_SDCARD_STORAGE_ENABLED |
1624 |
1480 |
1488 |
AP_GPS_ERB_ENABLED |
1616 |
1480 |
1552 |
AP_AIRSPEED_MS5525_ENABLED |
1600 |
1600 |
1584 |
AP_BARO_DPS280_ENABLED |
1600 |
1592 |
1592 |
AP_BARO_SPL06_ENABLED |
1600 |
1592 |
1592 |
AP_COMPASS_BMM150_ENABLED |
1600 |
1592 |
1592 |
AP_TRAMP_ENABLED |
1584 |
1600 |
1568 |
AP_COMPASS_RM3100_ENABLED |
1568 |
1560 |
1560 |
AP_TEMPERATURE_SENSOR_ENABLED |
1560 |
1560 |
1552 |
HAL_MOUNT_GREMSY_ENABLED |
1560 |
1560 |
1560 |
AP_AIRSPEED_AUAV_ENABLED |
1544 |
1544 |
1528 |
AP_MOTORS_FRAME_QUAD_ENABLED |
1544 |
1376 |
na |
AP_CAMERA_MAVLINKCAMV2_ENABLED |
1512 |
1512 |
1512 |
AP_GPS_NOVA_ENABLED |
1512 |
1512 |
1512 |
AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED |
1472 |
1472 |
1472 |
HAL_MOUNT_ALEXMOS_ENABLED |
1472 |
1464 |
1464 |
AP_RC_CHANNEL_AUX_FUNCTION_STRINGS_ENABLED |
1464 |
1456 |
1456 |
AP_COMPASS_IST8308_ENABLED |
1424 |
1416 |
1416 |
AP_BARO_FBM320_ENABLED |
1392 |
1392 |
1392 |
AP_KDECAN_ENABLED |
1392 |
1248 |
1264 |
AP_SCRIPTING_SERIALDEVICE_ENABLED |
1376 |
1352 |
1336 |
AP_RANGEFINDER_DRONECAN_ENABLED |
1360 |
1360 |
1360 |
AP_DRONECAN_HIMARK_SERVO_SUPPORT |
1352 |
1344 |
1344 |
AP_BARO_BMP388_ENABLED |
1320 |
1320 |
1320 |
AP_BARO_BMP280_ENABLED |
1312 |
1304 |
1304 |
AP_COMPASS_QMC5883L_ENABLED |
1312 |
1304 |
1304 |
AP_MOTORS_FRAME_OCTA_ENABLED |
1312 |
1312 |
na |
AP_RPM_PIN_ENABLED |
1248 |
1552 |
1552 |
AP_CUSTOMROTATIONS_ENABLED |
1216 |
1232 |
1216 |
AP_OPTICALFLOW_HEREFLOW_ENABLED |
1168 |
1160 |
1160 |
HAL_MOUNT_STORM32SERIAL_ENABLED |
1156 |
1148 |
1148 |
AP_FRSKY_D_TELEM_ENABLED |
1144 |
1136 |
1136 |
HAL_CRSF_TELEM_TEXT_SELECTION_ENABLED |
1120 |
1120 |
1120 |
AC_PRECLAND_IRLOCK_ENABLED |
1112 |
1112 |
1112 |
AP_GPS_SIRF_ENABLED |
1104 |
968 |
1048 |
AP_BARO_LPS2XH_ENABLED |
1040 |
1040 |
1040 |
AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED |
1024 |
1024 |
1024 |
AP_RANGEFINDER_JRE_SERIAL_ENABLED |
1016 |
1008 |
1008 |
HAL_ADSB_UAVIONIX_MAVLINK_ENABLED |
992 |
984 |
984 |
AP_RPM_DRONECAN_ENABLED |
984 |
984 |
984 |
AP_AIRSPEED_DLVR_ENABLED |
976 |
976 |
976 |
AP_RANGEFINDER_TRI2C_ENABLED |
968 |
968 |
968 |
HAL_PLUSCODE_ENABLE |
960 |
944 |
944 |
AP_EXTENDED_ESC_TELEM_ENABLED |
944 |
936 |
928 |
AP_RANGEFINDER_BLPING_ENABLED |
936 |
936 |
936 |
AP_RANGEFINDER_NMEA_ENABLED |
936 |
928 |
880 |
AP_MOTORS_FRAME_OCTAQUAD_ENABLED |
896 |
896 |
na |
AP_CAMERA_SOLOGIMBAL_ENABLED |
888 |
888 |
888 |
AP_RCPROTOCOL_SRXL_ENABLED |
888 |
888 |
888 |
AP_CAMERA_MOUNT_ENABLED |
880 |
872 |
872 |
HAL_MOUNT_CADDX_ENABLED |
880 |
872 |
872 |
AP_AIRSPEED_ASP5033_ENABLED |
856 |
856 |
856 |
HAL_OSD_SIDEBAR_ENABLE |
848 |
848 |
848 |
AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED |
832 |
832 |
832 |
AP_EFI_NWPWU_ENABLED |
824 |
816 |
816 |
AP_NOTIFY_MAVLINK_LED_CONTROL_SUPPORT_ENABLED |
824 |
824 |
824 |
AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED |
824 |
824 |
824 |
HAL_MOUNT_STORM32MAVLINK_ENABLED |
824 |
824 |
824 |
AP_MAVLINK_MSG_DEVICE_OP_ENABLED |
816 |
816 |
816 |
AP_OPTICALFLOW_PX4FLOW_ENABLED |
816 |
808 |
808 |
AP_RANGEFINDER_PWM_ENABLED |
808 |
800 |
800 |
AP_BARO_EXTERNALAHRS_ENABLED |
792 |
792 |
800 |
AP_RANGEFINDER_LEDDARVU8_ENABLED |
776 |
776 |
776 |
AP_NOTIFY_NCP5623_ENABLED |
768 |
760 |
760 |
AP_OPTICALFLOW_CXOF_ENABLED |
768 |
760 |
760 |
AP_RANGEFINDER_RDS02UF_ENABLED |
768 |
760 |
760 |
AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED |
760 |
760 |
760 |
AP_CAMERA_SEND_FOV_STATUS_ENABLED |
752 |
752 |
752 |
AP_BARO_BMP581_ENABLED |
736 |
736 |
736 |
AP_MAVLINK_MSG_FLIGHT_INFORMATION_ENABLED |
728 |
720 |
752 |
AP_OPTICALFLOW_UPFLOW_ENABLED |
728 |
728 |
728 |
HAL_BARO_WIND_COMP_ENABLED |
712 |
680 |
728 |
AP_EFI_SERIAL_LUTAN_ENABLED |
704 |
704 |
704 |
AP_GPS_MAV_ENABLED |
704 |
704 |
704 |
AP_MOTORS_FRAME_Y6_ENABLED |
704 |
704 |
na |
AP_RCPROTOCOL_ST24_ENABLED |
704 |
704 |
704 |
AP_BATTERY_FUELFLOW_ENABLED |
696 |
696 |
696 |
AP_RANGEFINDER_MAXSONARI2CXL_ENABLED |
688 |
680 |
680 |
AP_BATTERY_FUELLEVEL_ANALOG_ENABLED |
680 |
672 |
672 |
AP_BATTERY_SUM_ENABLED |
680 |
672 |
672 |
AP_MOTORS_FRAME_HEXA_ENABLED |
672 |
672 |
na |
AP_RANGEFINDER_LEDDARONE_ENABLED |
672 |
672 |
672 |
AP_RANGEFINDER_USD1_SERIAL_ENABLED |
640 |
640 |
640 |
AP_RCPROTOCOL_SUMD_ENABLED |
616 |
608 |
608 |
HAL_TORQEEDO_ENABLED |
608 |
608 |
7992 |
AP_CAMERA_SERVO_ENABLED |
600 |
600 |
600 |
AP_RCPROTOCOL_SBUS_ENABLED |
592 |
584 |
592 |
AP_COMPASS_EXTERNALAHRS_ENABLED |
584 |
584 |
600 |
AP_SBUSOUTPUT_ENABLED |
560 |
472 |
544 |
AP_OPTICALFLOW_MAV_ENABLED |
552 |
544 |
544 |
AP_CAN_LOGGING_ENABLED |
544 |
416 |
488 |
COMPASS_LEARN_ENABLED |
512 |
504 |
504 |
AP_RANGEFINDER_HC_SR04_ENABLED |
504 |
504 |
504 |
AP_BATTERY_WATT_MAX_ENABLED |
496 |
na |
na |
AP_OAPATHPLANNER_ENABLED |
488 |
19016 |
16768 |
AP_RANGEFINDER_ANALOG_ENABLED |
488 |
480 |
480 |
AP_RANGEFINDER_MAVLINK_ENABLED |
488 |
488 |
488 |
AP_GENERATOR_IE_650_800_ENABLED |
472 |
464 |
464 |
AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED |
456 |
448 |
448 |
AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED |
448 |
448 |
448 |
AP_RANGEFINDER_NOOPLOOP_ENABLED |
440 |
432 |
432 |
AP_RCPROTOCOL_IBUS_ENABLED |
440 |
432 |
432 |
AP_AVOIDANCE_ENABLED |
432 |
15680 |
13232 |
AP_BATTERY_FUELLEVEL_PWM_ENABLED |
392 |
392 |
392 |
AP_BATTERY_SYNTHETIC_CURRENT_ENABLED |
392 |
392 |
392 |
AP_RANGEFINDER_LANBAO_ENABLED |
392 |
384 |
384 |
AP_RANGEFINDER_GYUS42V2_ENABLED |
384 |
384 |
384 |
AP_MAVLINK_MSG_RELAY_STATUS_ENABLED |
376 |
376 |
376 |
AP_RCPROTOCOL_MAVLINK_RADIO_ENABLED |
376 |
368 |
368 |
AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED |
360 |
na |
na |
AP_CAMERA_MAVLINK_ENABLED |
352 |
344 |
344 |
AP_RANGEFINDER_LUA_ENABLED |
352 |
352 |
352 |
AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED |
352 |
344 |
344 |
AP_MOTORS_FRAME_DODECAHEXA_ENABLED |
344 |
344 |
na |
AC_PRECLAND_COMPANION_ENABLED |
320 |
312 |
312 |
AP_EFI_MAV_ENABLED |
312 |
312 |
312 |
AP_CAMERA_RELAY_ENABLED |
304 |
296 |
296 |
AP_MOTORS_FRAME_DECA_ENABLED |
296 |
296 |
na |
HAL_SPRAYER_ENABLED |
280 |
1224 |
1016 |
AP_FILESYSTEM_FORMAT_ENABLED |
272 |
272 |
272 |
AP_RANGEFINDER_BENEWAKE_CAN_ENABLED |
272 |
264 |
264 |
AP_NOTIFY_NEOPIXEL_ENABLED |
264 |
264 |
264 |
AP_INERTIALSENSOR_KILL_IMU_ENABLED |
256 |
240 |
240 |
AP_MAVLINK_SERVO_RELAY_ENABLED |
256 |
248 |
248 |
AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED |
256 |
256 |
256 |
AP_AIRSPEED_ANALOG_ENABLED |
248 |
248 |
248 |
AP_NOTIFY_PROFILED_ENABLED |
224 |
216 |
216 |
AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED |
216 |
208 |
208 |
AP_RANGEFINDER_USD1_CAN_ENABLED |
216 |
208 |
208 |
AP_RCPROTOCOL_PPMSUM_ENABLED |
216 |
208 |
208 |
AP_CAMERA_SEND_THERMAL_RANGE_ENABLED |
176 |
176 |
176 |
AP_RPM_HARMONICNOTCH_ENABLED |
176 |
176 |
176 |
AP_RANGEFINDER_BENEWAKE_TF02_ENABLED |
144 |
144 |
144 |
AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED |
136 |
136 |
136 |
AP_RANGEFINDER_BENEWAKE_TF03_ENABLED |
136 |
136 |
136 |
AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED |
136 |
136 |
136 |
AP_RPM_GENERATOR_ENABLED |
136 |
128 |
128 |
AP_RPM_EFI_ENABLED |
128 |
128 |
128 |
AP_RPM_ESC_TELEM_ENABLED |
128 |
120 |
120 |
AP_NOTIFY_MAVLINK_PLAY_TUNE_SUPPORT_ENABLED |
96 |
88 |
88 |
AP_PROXIMITY_RANGEFINDER_ENABLED |
80 |
792 |
792 |
AP_WINCH_ENABLED |
64 |
5060 |
64 |
AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED |
40 |
2096 |
32 |
AP_AIS_ENABLED |
24 |
1048 |
7404 |
AP_PROXIMITY_CYGBOT_ENABLED |
na |
936 |
936 |
AP_PROXIMITY_MR72_ENABLED |
na |
na |
na |
AP_SERIALMANAGER_IMUOUT_ENABLED |
na |
na |
na |
AP_TEMPCALIBRATION_ENABLED |
na |
1328 |
na |
AP_WINCH_DAIWA_ENABLED |
na |
2452 |
na |
AP_WINCH_PWM_ENABLED |
na |
560 |
na |
HAL_HOTT_TELEM_ENABLED |
na |
na |
na |
HAL_MOUNT_XFROBOT_ENABLED |
na |
na |
na |
MODE_BRAKE_ENABLED |
na |
688 |
na |
MODE_FLIP_ENABLED |
na |
1296 |
na |
MODE_FLOWHOLD_ENABLED |
na |
4616 |
na |
MODE_FOLLOW_ENABLED |
na |
2296 |
1488 |
MODE_GUIDED_NOGPS_ENABLED |
na |
240 |
na |
MODE_SPORT_ENABLED |
na |
na |
na |
MODE_SYSTEMID_ENABLED |
na |
4208 |
na |
MODE_TURTLE_ENABLED |
na |
1896 |
na |
MODE_ZIGZAG_ENABLED |
na |
4784 |
na |
AP_COPTER_AHRS_AUTO_TRIM_ENABLED |
na |
472 |
na |
AP_DRONECAN_VOLZ_FEEDBACK_ENABLED |
na |
na |
na |
AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED |
na |
2968 |
na |
AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED |
na |
1816 |
1816 |
AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED |
na |
1760 |
1760 |
AP_PROXIMITY_RPLIDARA2_ENABLED |
na |
1504 |
1504 |
AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED |
na |
992 |
992 |
AP_PROXIMITY_TERARANGERTOWER_ENABLED |
na |
656 |
656 |
AP_PROXIMITY_MAV_ENABLED |
na |
1800 |
1800 |
AP_AIRSPEED_NMEA_ENABLED |
na |
na |
888 |
Build Server Versions¶
Before deploying new features to the main instance of the application, we test them on a dedicated testing instance. This testing environment is accessible at custom-beta.ardupilot.org. Feel free to use the beta features and provide your valuable feedback to help us improve the application.