Parameter Name Changes

Parameters get renamed, rescaled, or reorganized fairly often, mostly to standardize units (converting centidegrees/cm values to degrees/meters) and to give related parameters a consistent naming scheme. This page lists old and new parameter names across recent ArduPilot releases so that users upgrading can find their previous settings.

Note

Automatic parameter conversion runs on first boot with the newer firmware, so old values normally carry over to the new parameter names on the vehicle itself. This page is mainly useful for updating scripts, ground station profiles, log analysis tools, finding parameters in an old firmware revisions on GCSs, and other external references that still use the old names.

ArduPilot 4.6 → 4.7

These renames shipped in the 4.7.0 release

Serial port option bits moved to MAVn_OPTIONS

Old Name

New Name

SERIALn_OPTIONS bit 10 (don’t forward MAVLink)

MAVn_OPTIONS bit 1

SERIALn_OPTIONS bit 12 (ignore stream rate override)

MAVn_OPTIONS bit 2

Attitude control

Old Name

New Name

ATC_ACCEL_R_MAX

ATC_ACC_R_MAX

ATC_ACCEL_P_MAX

ATC_ACC_P_MAX

ATC_ACCEL_Y_MAX

ATC_ACC_Y_MAX

ATC_SLEW_YAW (centidegrees/s)

ATC_RATE_WPY_MAX (degrees/s)

Q_A_ACCEL_R_MAX

Q_A_ACC_R_MAX

Q_A_ACCEL_P_MAX

Q_A_ACC_P_MAX

Q_A_ACCEL_Y_MAX

Q_A_ACC_Y_MAX

Q_A_SLEW_YAW (centidegrees/s)

Q_A_RATE_WPY_MAX (degrees/s)

ANGLE_MAX (centidegrees)

ATC_ANGLE_MAX (Copter/Sub) or Q_A_ANGLE_MAX (QuadPlane), in degrees

Position controller (NEU → NED axis naming)

AC_PosControl’s vertical (“Z”/”D”) and horizontal (“XY”/”NE”) axis groups were renamed to use consistent NED-style naming. This affects Copter/Sub (prefix PSC_) and QuadPlane (prefix Q_P_ instead of PSC_).

Old Name

New Name

PSC_POSZ_P

PSC_D_POS_P

PSC_VELZ_P / _I / _IMAX / _D / _FF / _FLTE / _FLTD

PSC_D_VEL_P / _I / _IMAX / _D / _FF / _FLTE / _FLTD

PSC_ACCZ_P / _I / _IMAX / _D / _FF / _FLTT / _FLTE / _FLTD / _SMAX / _PDMX / _D_FF / _NTF / _NEF

PSC_D_ACC_P / _I / _IMAX / _D / _FF / _FLTT / _FLTE / _FLTD / _SMAX / _PDMX / _D_FF / _NTF / _NEF

PSC_POSXY_P

PSC_NE_POS_P

PSC_VELXY_P / _I / _D / _IMAX / _FLTE / _FLTD / _FF

PSC_NE_VEL_P / _I / _D / _IMAX / _FLTE / _FLTD / _FF

PSC_JERK_XY

PSC_NE_JERK

PSC_JERK_Z

PSC_D_JERK

Note

For QuadPlane, replace the PSC_ prefix above with Q_P_ (e.g. Q_P_NE_POS_P).

Avoidance

Old Name

New Name

AVOID_ANGLE_MAX (centidegrees)

AVOID_ANG_MAX (degrees)

Circle mode

Old Name

New Name

CIRCLE_RADIUS (cm)

CIRCLE_RADIUS_M (m)

Loiter mode

Old Name

New Name

LOIT_SPEED (cm/s)

LOIT_SPEED_MS (m/s)

LOIT_ACC_MAX (cm/s/s)

LOIT_ACC_MAX_M (m/s/s)

LOIT_BRK_ACCEL (cm/s/s)

LOIT_BRK_ACC_M (m/s/s)

LOIT_BRK_JERK (cm/s/s/s)

LOIT_BRK_JRK_M (m/s/s/s)

LOIT_ANG_MAX, LOIT_BRK_DELAY and LOIT_OPTIONS were not renamed.

Note

For QuadPlane, the same four renames apply with the Q_LOIT_ prefix (e.g. Q_LOIT_SPEED → Q_LOIT_SPEED_MS).

Waypoint navigation (WPNAV_ → WP_)

Old Name

New Name

WPNAV_SPEED

WP_SPD

WPNAV_RADIUS

WP_RADIUS_M

WPNAV_SPEED_UP

WP_SPD_UP

WPNAV_SPEED_DN

WP_SPD_DN

WPNAV_ACCEL

WP_ACC

WPNAV_ACCEL_Z

WP_ACC_Z

WPNAV_ACCEL_C

WP_ACC_CNR

WPNAV_JERK

WP_JERK

WPNAV_RFND_USE

WP_RFND_USE

WPNAV_TER_MARGIN

WP_TER_MARGIN

Note

For QuadPlane, the same renames apply to the Q_WP_ parameters (e.g. Q_WP_SPEED → Q_WP_SPD, Q_WP_RADIUS → Q_WP_RADIUS_M).

Copter Land mode

Old Name

New Name

LAND_SPEED

LAND_SPD_MS

LAND_SPEED_HIGH

LAND_SPD_HIGH_MS

LAND_ALT_LOW

LAND_ALT_LOW_M

Copter RTL mode

Old Name

New Name

RTL_ALT

RTL_ALT_M

RTL_SPEED

RTL_SPEED_MS

RTL_ALT_FINAL

RTL_ALT_FINAL_M

RTL_CLIMB_MIN

RTL_CLIMB_MIN_M

Copter PosHold mode

Old Name

New Name

PHLD_BRAKE_RATE

PHLD_BRK_RATE

PHLD_BRAKE_ANGLE (centidegrees)

PHLD_BRK_ANGLE (degrees)

Pilot input parameters

Old Name

New Name

PILOT_TKOFF_ALT

PILOT_TKO_ALT_M

PILOT_SPEED_UP

PILOT_SPD_UP

PILOT_SPEED_DN

PILOT_SPD_DN

PILOT_ACCEL_Z

PILOT_ACC_Z

EKF3

Old Name

New Name

EK3_MAX_FLOW

EK3_FLOW_MAX

Rangefinders

Rangefinder distances moved from centimetres to metres.

Old Name

New Name

RNGFNDx_MIN_CM (cm)

RNGFNDx_MIN (m)

RNGFNDx_MAX_CM (cm)

RNGFNDx_MAX (m)

RNGFNDx_GNDCLEAR (cm)

RNGFNDx_GNDCLR (m)

Sub EKF origin backup

Old Name

New Name

ORIGIN_LAT

AHRS_ORIGIN_LAT

ORIGIN_LON

AHRS_ORIGIN_LON

ORIGIN_ALT

AHRS_ORIGIN_ALT

Plane altitude (glide) slope

“Glide slope” was renamed to “altitude slope”, since it also covers climbs.

Old Name

New Name

GLIDE_SLOPE_MIN

ALT_SLOPE_MIN

GLIDE_SLOPE_THR

ALT_SLOPE_MAXHGT

RunCam

RunCam is now a camera backend, so its parameters moved under camera instance 2 and the enable is CAM2_TYPE = 4 (RunCam).

Old Name

New Name

CAM_RC_TYPE

CAM2_RC_TYPE

CAM_RC_FEATURES

CAM2_RC_FEATURES

CAM_RC_BT_DELAY

CAM2_RC_BT_DELAY

CAM_RC_BTN_DELAY

CAM2_RC_BTN_DELY

CAM_RC_MDE_DELAY

CAM2_RC_MDE_DELY

CAM_RC_CONTROL

CAM2_RC_CONTROL

Note

CAM2_RC_TYPE no longer has a “Disabled” meaning; whether RunCam runs is now decided by CAM2_TYPE.

Arming

Old Name

New Name

ARMING_CHECK

ARMING_SKIPCHK

Warning

This is not a pure rename. ARMING_CHECK was a bitmask of checks to run, while ARMING_SKIPCHK is a bitmask of checks to skip. The bit meanings are inverted, so a converted value should be double checked rather than assumed correct.

ArduPilot 4.7 → current master (pre-4.8)

Warning

Master is under active, unreleased development for the upcoming 4.8 release. The renames below have merged as of the last time this page was updated, but more parameter renames are likely to land before 4.8 ships. Treat this section as a work-in-progress snapshot, not a final list — check the source or the eventual 4.8.0 release notes before relying on it for a production upgrade.

TradHeli swashplate phase angle

Phase adjustment support was added to all swashplate types, dropping the “H3” naming from the phase angle parameter.

Old Name

New Name

H_SW_H3_PHANG

H_SW_PHANG

H_SW2_H3_PHANG

H_SW2_PHANG

SITL board mounting trim

SITL’s accelerometer-only trim parameter was replaced with a general rigid board mounting offset applied to accelerometers, gyros, and compasses.

Old Name

New Name

SIM_ACC_TRIM

SIM_BRD_TRIM