Future Wiki Changes (in Master branch now)

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

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

add UM982 Moving Baseline GPS:

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

on Auxiliary Functions, add:

RCx_OPTION value

Feature Description








Compass Calibration




Option Description
Compass Calibration

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

on Compass Calibration page:

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

on Downloading and Analyzing Data Logs in Mission Planner page:

under Logging Parameters, change:

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


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

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

add a new section:

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

on Electronic Fuel Injectors page add section:

Using a Battery Monitor to Report Fuel Flow and Consumption

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


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

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


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

on External AHRS Systems add:

under Supported Systems add:

  • VectorNav VN-100AHRS

under Setup replace with:

VectorNav300 or Parker Lord

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


  • AHRS_EKF_TYPE = 3 (ArduPilot’s EKF3)

  • EAHRS_TYPE = 1 (VectorNAV)

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

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

on Electronic Fuel Injectors page, add:

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

on RunCam Camera Support page, under Setup, add:

For RunCam2 4K camera, set CAM_RC_TYPE = 5.