Complete Parameter List

Full Parameter List of Rover stable V4.2.2

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.

Rover Parameters

FORMAT_VERSION: Eeprom format version number

Note: This parameter is for advanced users

This value is incremented when changes are made to the eeprom format

LOG_BITMASK: Log bitmask

Note: This parameter is for advanced users

Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices 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, Rangefinder=16384, Arming=32768, FullLogs=65535

Bitmask

Bit

Meaning

0

ATTITUDE_FAST

1

ATTITUDE_MED

2

GPS

3

PM

4

THR

5

NTUN

7

IMU

8

CMD

9

CURRENT

10

RANGEFINDER

11

COMPASS

12

CAMERA

13

STEERING

14

RC

15

ARM/DISARM

19

IMU_RAW

20

VideoStabilization

RST_SWITCH_CH: Reset Switch Channel

Note: This parameter is for advanced users

RC channel to use to reset to last flight mode after geofence takeover.

INITIAL_MODE: Initial driving mode

Note: This parameter is for advanced users

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. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.

Values

Value

Meaning

0

Manual

1

Acro

3

Steering

4

Hold

5

Loiter

6

Follow

7

Simple

10

Auto

11

RTL

12

SmartRTL

15

Guided

TELEM_DELAY: Telemetry startup delay

The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up

Increment

Range

Units

1

0 - 30

seconds

GCS_PID_MASK: GCS PID tuning mask

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Bitmask

Values

Bit

Meaning

0

Steering

1

Throttle

2

Pitch

3

Left Wheel

4

Right Wheel

5

Sailboat Heel

Value

Meaning

0

None

1

Steering

2

Throttle

4

Pitch

8

Left Wheel

16

Right Wheel

32

Sailboat Heel

AUTO_TRIGGER_PIN: Auto mode trigger pin

pin number to use to enable the throttle in auto mode. If set to -1 then don't use a trigger, otherwise this is a pin number which if held low in auto mode will enable the motor to run. If the switch is released while in AUTO then the motor will stop again. This can be used in combination with INITIAL_MODE to give a 'press button to start' rover with no receiver.

Values

Value

Meaning

-1

Disabled

0

APM TriggerPin0

1

APM TriggerPin1

2

APM TriggerPin2

3

APM TriggerPin3

4

APM TriggerPin4

5

APM TriggerPin5

6

APM TriggerPin6

7

APM TriggerPin7

8

APM TriggerPin8

50

AUX1

51

AUX2

52

AUX3

53

AUX4

54

AUX5

55

AUX6

AUTO_KICKSTART: Auto mode trigger kickstart acceleration

X acceleration in meters/second/second to use to trigger the motor start in auto mode. If set to zero then auto throttle starts immediately when the mode switch happens, otherwise the rover waits for the X acceleration to go above this value before it will start the motor

Increment

Range

Units

0.1

0 - 20

meters per square second

CRUISE_SPEED: Target cruise speed in auto modes

The target speed in auto missions.

Increment

Range

Units

0.1

0 - 100

meters per second

CRUISE_THROTTLE: Base throttle percentage in auto

The base throttle percentage to use in auto mode. The CRUISE_SPEED parameter controls the target speed, but the rover starts with the CRUISE_THROTTLE setting as the initial estimate for how much throttle is needed to achieve that speed. It then adjusts the throttle based on how fast the rover is actually going.

Increment

Range

Units

1

0 - 100

percent

PILOT_STEER_TYPE: Pilot input steering type

Pilot RC input interpretation

Values

Value

Meaning

0

Default

1

Two Paddles Input

2

Direction reversed when backing up

3

Direction unchanged when backing up

FS_ACTION: Failsafe Action

What to do on a failsafe event

Values

Value

Meaning

0

Nothing

1

RTL

2

Hold

3

SmartRTL or RTL

4

SmartRTL or Hold

FS_TIMEOUT: Failsafe timeout

The time in seconds that a failsafe condition must persist before the failsafe action is triggered

Increment

Range

Units

0.5

1 - 100

seconds

FS_THR_ENABLE: Throttle Failsafe Enable

The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel to a low value. This can be used to detect the RC transmitter going out of range. Failsafe will be triggered when the throttle channel goes below the FS_THR_VALUE for FS_TIMEOUT seconds.

Values

Value

Meaning

0

Disabled

1

Enabled

2

Enabled Continue with Mission in Auto

FS_THR_VALUE: Throttle Failsafe Value

The PWM level on the throttle channel below which throttle failsafe triggers.

Increment

Range

1

910 - 1100

FS_GCS_ENABLE: GCS failsafe enable

Enable ground control station telemetry failsafe. When enabled the Rover will execute the FS_ACTION when it fails to receive MAVLink heartbeat packets for FS_TIMEOUT seconds.

Values

Value

Meaning

0

Disabled

1

Enabled

2

Enabled Continue with Mission in Auto

FS_CRASH_CHECK: Crash check action

What to do on a crash event. When enabled the rover will go to hold if a crash is detected.

Values

Value

Meaning

0

Disabled

1

Hold

2

HoldAndDisarm

FS_EKF_ACTION: EKF Failsafe Action

Note: This parameter is for advanced users

Controls the action that will be taken when an EKF failsafe is invoked

Values

Value

Meaning

0

Disabled

1

Hold

2

ReportOnly

FS_EKF_THRESH: EKF failsafe variance threshold

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance

Values

Value

Meaning

0.6

Strict

0.8

Default

1.0

Relaxed

MODE_CH: Mode channel

Note: This parameter is for advanced users

RC Channel to use for driving mode control

MODE1: Mode1

Driving mode for switch position 1 (910 to 1230 and above 2049)

Values

Value

Meaning

0

Manual

1

Acro

3

Steering

4

Hold

5

Loiter

6

Follow

7

Simple

10

Auto

11

RTL

12

SmartRTL

15

Guided

MODE2: Mode2

Driving mode for switch position 2 (1231 to 1360)

Values

Value

Meaning

0

Manual

1

Acro

3

Steering

4

Hold

5

Loiter

6

Follow

7

Simple

10

Auto

11

RTL

12

SmartRTL

15

Guided

MODE3: Mode3

Driving mode for switch position 3 (1361 to 1490)

Values

Value

Meaning

0

Manual

1

Acro

3

Steering

4

Hold

5

Loiter

6

Follow

7

Simple

10

Auto

11

RTL

12

SmartRTL

15

Guided

MODE4: Mode4

Driving mode for switch position 4 (1491 to 1620)

Values

Value

Meaning

0

Manual

1

Acro

3

Steering

4

Hold

5

Loiter

6

Follow

7

Simple

10

Auto

11

RTL

12

SmartRTL

15

Guided

MODE5: Mode5

Driving mode for switch position 5 (1621 to 1749)

Values

Value

Meaning

0

Manual

1

Acro

3

Steering

4

Hold

5

Loiter

6

Follow

7

Simple

10

Auto

11

RTL

12

SmartRTL

15

Guided

MODE6: Mode6

Driving mode for switch position 6 (1750 to 2049)

Values

Value

Meaning

0

Manual

1

Acro

3

Steering

4

Hold

5

Loiter

6

Follow

7

Simple

10

Auto

11

RTL

12

SmartRTL

15

Guided

SYSID_ENFORCE: GCS sysid enforcement

Note: This parameter is for advanced users

This controls whether packets from other than the expected GCS system ID will be accepted

Values

Value

Meaning

0

NotEnforced

1

Enforced

TURN_RADIUS: Turn radius of vehicle

Turn radius of vehicle in meters while at low speeds. Lower values produce tighter turns in steering mode

Increment

Range

Units

0.1

0 - 10

meters

ACRO_TURN_RATE: Acro mode turn rate maximum

Acro mode turn rate maximum

Increment

Range

Units

1

0 - 360

degrees per second

RTL_SPEED: Return-to-Launch speed default

Return-to-Launch speed default. If zero use WP_SPEED or CRUISE_SPEED.

Increment

Range

Units

0.1

0 - 100

meters per second

FRAME_CLASS: Frame Class

Frame Class

Values

Value

Meaning

0

Undefined

1

Rover

2

Boat

3

BalanceBot

BAL_PITCH_MAX: BalanceBot Maximum Pitch

Pitch angle in degrees at 100% throttle

Increment

Range

Units

0.1

0 - 5

degrees

CRASH_ANGLE: Crash Angle

Pitch/Roll angle limit in degrees for crash check. Zero disables check

Increment

Range

Units

1

0 - 60

degrees

FRAME_TYPE: Frame Type

Note: Reboot required after change

Frame Type

Values

Value

Meaning

0

Undefined

1

Omni3

2

OmniX

3

OmniPlus

LOIT_TYPE: Loiter type

Loiter behaviour when moving to the target point

Values

Value

Meaning

0

Forward or reverse to target point

1

Always face bow towards target point

2

Always face stern towards target point

SIMPLE_TYPE: Simple_Type

Note: Reboot required after change

Simple mode types

Values

Value

Meaning

0

InitialHeading

1

CardinalDirections

LOIT_RADIUS: Loiter radius

Vehicle will drift when within this distance of the target position

Increment

Range

Units

1

0 - 20

meters

MIS_DONE_BEHAVE: Mission done behave

Behaviour after mission completes

Values

Value

Meaning

0

Hold

1

Loiter

2

Acro

3

Manual

BAL_PITCH_TRIM: Balance Bot pitch trim angle

Balance Bot pitch trim for balancing. This offsets the tilt of the center of mass.

Increment

Range

Units

0.1

-2 - 2

degrees

STICK_MIXING: Stick Mixing

Note: This parameter is for advanced users

When enabled, this adds steering user stick input in auto modes, allowing the user to have some degree of control without changing modes.

Values

Value

Meaning

0

Disabled

1

Enabled

SPEED_MAX: Speed maximum

Note: This parameter is for advanced users

Maximum speed vehicle can obtain at full throttle. If 0, it will be estimated based on CRUISE_SPEED and CRUISE_THROTTLE.

Increment

Range

Units

0.1

0 - 30

meters per second

LOIT_SPEED_GAIN: Loiter speed gain

Note: This parameter is for advanced users

Determines how agressively LOITER tries to correct for drift from loiter point. Higher is faster but default should be acceptable.

Increment

Range

0.01

0 - 5

FS_OPTIONS: Rover Failsafe Options

Note: This parameter is for advanced users

Bitmask to enable Rover failsafe options

Bitmask

Values

Bit

Meaning

0

Failsafe enabled in Hold mode

Value

Meaning

0

None

1

Failsafe enabled in Hold mode

CH7_OPTION: Channel 7 option

What to do use channel 7 for

Values

Value

Meaning

0

Nothing

1

SaveWaypoint

2

LearnCruiseSpeed

3

ArmDisarm

4

Manual

5

Acro

6

Steering

7

Hold

8

Auto

9

RTL

10

SmartRTL

11

Guided

12

Loiter

AUX_CH: Auxiliary switch channel

Note: This parameter is for advanced users

RC Channel to use for auxiliary functions including saving waypoints

PIVOT_TURN_ANGLE: Pivot turn angle

Navigation angle threshold in degrees to switch to pivot steering. This allows you to setup a skid steering rover to turn on the spot in auto mode when the angle it needs to turn it greater than this angle. An angle of zero means to disable pivot turning. Note that you will probably also want to set a low value for WP_RADIUS to get neat turns.

Increment

Range

Units

1

0 - 360

degrees

PIVOT_TURN_RATE: Pivot turn rate

Desired pivot turn rate in deg/s.

Increment

Range

Units

1

0 - 360

degrees per second

AFS_ Parameters

AFS_ENABLE: Enable Advanced Failsafe

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets a digital output pin to set high when in manual mode

AFS_HB_PIN: Heartbeat Pin

Note: This parameter is for advanced users

This sets a digital output pin which is cycled at 10Hz when termination is not activated. Note that if a FS_TERM_PIN is set then the heartbeat pin will continue to cycle at 10Hz when termination is activated, to allow the termination board to distinguish between autopilot crash and termination.

Values

Value

Meaning

-1

Disabled

49

BB Blue GP0 pin 4

50

AUXOUT1

51

AUXOUT2

52

AUXOUT3

53

AUXOUT4

54

AUXOUT5

55

AUXOUT6

57

BB Blue GP0 pin 3

113

BB Blue GP0 pin 6

116

BB Blue GP0 pin 5

AFS_WP_COMMS: Comms Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_WP_GPS_LOSS: GPS Loss Waypoint

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate

Note: This parameter is for advanced users

Can be set in flight to force termination of the heartbeat signal

AFS_TERM_ACTION: Terminate action

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets a digital output pin to set high on flight termination

Values

Value

Meaning

-1

Disabled

49

BB Blue GP0 pin 4

50

AUXOUT1

51

AUXOUT2

52

AUXOUT3

53

AUXOUT4

54

AUXOUT5

55

AUXOUT6

57

BB Blue GP0 pin 3

113

BB Blue GP0 pin 6

116

BB Blue GP0 pin 5

AFS_AMSL_LIMIT: AMSL limit

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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_GPS_USE: AHRS use GPS for DCM navigation and position-down

Note: This parameter is for advanced users

This controls whether to use dead-reckoning or GPS based navigation. If set to 0 then the GPS won't be used for navigation, and only dead reckoning will be used. A value of zero should never be used for normal flight. Currently this affects only the DCM-based AHRS: the EKF uses GPS according to its own parameters. A value of 2 means to use GPS for height as well as position - both in DCM estimation and when determining altitude-above-home.

Values

Value

Meaning

0

Disabled

1

Use GPS for DCM position

2

Use GPS for DCM position and height

AHRS_YAW_P: Yaw P

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Increment

Range

.01

0.1 - 0.4

AHRS_WIND_MAX: Maximum wind

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Not Used

Increment

Range

Units

0.01

-0.1745 - +0.1745

radians

AHRS_ORIENTATION: Board Orientation

Note: This parameter is for advanced users

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

Value

Meaning

0

None

1

Yaw45

2

Yaw90

3

Yaw135

4

Yaw180

5

Yaw225

6

Yaw270

7

Yaw315

8

Roll180

9

Yaw45Roll180

10

Yaw90Roll180

11

Yaw135Roll180

12

Pitch180

13

Yaw225Roll180

14

Yaw270Roll180

15

Yaw315Roll180

16

Roll90

17

Yaw45Roll90

18

Yaw90Roll90

19

Yaw135Roll90

20

Roll270

21

Yaw45Roll270

22

Yaw90Roll270

23

Yaw135Roll270

24

Pitch90

25

Pitch270

26

Yaw90Pitch180

27

Yaw270Pitch180

28

Pitch90Roll90

29

Pitch90Roll180

30

Pitch90Roll270

31

Pitch180Roll90

32

Pitch180Roll270

33

Pitch270Roll90

34

Pitch270Roll180

35

Pitch270Roll270

36

Yaw90Pitch180Roll90

37

Yaw270Roll90

38

Yaw293Pitch68Roll180

39

Pitch315

40

Pitch315Roll90

42

Roll45

43

Roll315

100

Custom

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation

Note: This parameter is for advanced users

This controls which NavEKF Kalman filter version is used for attitude and position estimation

Values

Value

Meaning

0

Disabled

2

Enable EKF2

3

Enable EKF3

11

ExternalAHRS

AHRS_CUSTOM_ROLL: Board orientation roll offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

AIS_ Parameters

AIS_TYPE: AIS receiver type

Note: Reboot required after change

AIS receiver type

Values

Value

Meaning

0

None

1

NMEA AIVDM message

AIS_LIST_MAX: AIS vessel list size

Note: This parameter is for advanced users

AIS list size of nearest vessels. Longer lists take longer to refresh with lower SRx_ADSB values.

Range

1 - 100

AIS_TIME_OUT: AIS vessel time out

Note: This parameter is for advanced users

if no updates are received in this time a vessel will be removed from the list

Range

Units

1 - 2000

seconds

AIS_LOGGING: AIS logging options

Note: This parameter is for advanced users

Bitmask of AIS logging options

Bitmask

Bit

Meaning

0

Log all AIVDM messages

1

Log only unsupported AIVDM messages

2

Log decoded messages

ARMING_ Parameters

ARMING_REQUIRE: Require Arming Motors

Note: This parameter is for advanced users

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

Value

Meaning

0

Disabled

1

THR_MIN PWM when disarmed

2

0 PWM when disarmed

ARMING_ACCTHRESH: Accelerometer error threshold

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Value

Meaning

0

Disabled

1

ArmingOnly

2

ArmOrDisarm

ARMING_MIS_ITEMS: Required mission items

Note: This parameter is for advanced users

Bitmask of mission items that are required to be planned in order to arm the aircraft

Bitmask

Bit

Meaning

0

Land

1

VTOL Land

2

DO_LAND_START

3

Takeoff

4

VTOL Takeoff

5

Rallypoint

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

Bit

Meaning

0

All

1

Barometer

2

Compass

3

GPS lock

4

INS

5

Parameters

6

RC Channels

7

Board voltage

8

Battery Level

10

Logging Available

11

Hardware safety switch

12

GPS Configuration

13

System

14

Mission

15

Rangefinder

16

Camera

17

AuxAuth

18

VisualOdometry

19

FFT

ARSPD Parameters

ARSPD_TYPE: Airspeed type

Type of airspeed sensor

Values

Value

Meaning

0

None

1

I2C-MS4525D0

2

Analog

3

I2C-MS5525

4

I2C-MS5525 (0x76)

5

I2C-MS5525 (0x77)

6

I2C-SDP3X

7

I2C-DLVR-5in

8

DroneCAN

9

I2C-DLVR-10in

10

I2C-DLVR-20in

11

I2C-DLVR-30in

12

I2C-DLVR-60in

13

NMEA water speed

14

MSP

15

ASP5033

ARSPD_DEVID: Airspeed ID

Note: This parameter is for advanced users

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

Value

Meaning

0

DoNotUse

1

Use

2

UseWhenZeroThrottle

ARSPD_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment

0.1

ARSPD_RATIO: Airspeed ratio

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Value

Meaning

0

Normal

1

Swapped

2

Auto Detect

ARSPD_SKIP_CAL: Skip airspeed calibration on startup

Note: This parameter is for advanced users

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

Value

Meaning

0

Disable

1

Enable

ARSPD_PSI_RANGE: The PSI range of the device

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Bus number of the I2C bus where the airspeed sensor is connected

Values

Value

Meaning

0

Bus0(internal)

1

Bus1(external)

2

Bus2(auxillary)

ARSPD_PRIMARY: Primary airspeed sensor

Note: This parameter is for advanced users

This selects which airspeed sensor will be the primary if multiple sensors are found

Values

Value

Meaning

0

FirstSensor

1

2ndSensor

ARSPD_OPTIONS: Airspeed options bitmask

Note: This parameter is for advanced users

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

Bit

Meaning

0

SpeedMismatchDisable

1

AllowSpeedMismatchRecovery

2

DisableVoltageCorrection

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Value

Meaning

0

None

1

I2C-MS4525D0

2

Analog

3

I2C-MS5525

4

I2C-MS5525 (0x76)

5

I2C-MS5525 (0x77)

6

I2C-SDP3X

7

I2C-DLVR-5in

8

DroneCAN

9

I2C-DLVR-10in

10

I2C-DLVR-20in

11

I2C-DLVR-30in

12

I2C-DLVR-60in

13

NMEA water speed

14

MSP

15

ASP5033

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

Value

Meaning

0

Don’t Use

1

use

2

UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration offset

Increment

0.1

ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment

0.1

ARSPD2_PIN: Airspeed pin for 2nd airspeed sensor

Note: This parameter is for advanced users

Pin number indicating location of analog airspeed sensors. Pixhawk/Cube if set to 15.

ARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Value

Meaning

0

Normal

1

Swapped

2

Auto Detect

ARSPD2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor

Note: This parameter is for advanced users

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

Value

Meaning

0

Disable

1

Enable

ARSPD2_PSI_RANGE: The PSI range of the device for 2nd sensor

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

The bus number of the I2C bus to look for the sensor on

Values

Value

Meaning

0

Bus0(internal)

1

Bus1(external)

2

Bus2(auxillary)

ARSPD2_DEVID: Airspeed2 ID

Note: This parameter is for advanced users

Airspeed2 sensor ID, taking into account its type, bus and instance

ReadOnly

True

ATC Parameters

ATC_STR_RAT_P: Steering control rate P gain

Steering control rate P gain. Converts the turn rate error (in radians/sec) to a steering control output (in the range -1 to +1)

Increment

Range

0.001

0.000 - 2.000

ATC_STR_RAT_I: Steering control I gain

Steering control I gain. Corrects long term error between the desired turn rate (in rad/s) and actual

Increment

Range

0.001

0.000 - 2.000

ATC_STR_RAT_IMAX: Steering control I gain maximum

Steering control I gain maximum. Constrains the steering output (range -1 to +1) that the I term will generate

Increment

Range

0.01

0.000 - 1.000

ATC_STR_RAT_D: Steering control D gain

Steering control D gain. Compensates for short-term change in desired turn rate vs actual

Increment

Range

0.001

0.000 - 0.400

ATC_STR_RAT_FF: Steering control feed forward

Steering control feed forward

Increment

Range

0.001

0.000 - 3.000

ATC_STR_RAT_FILT: Steering control filter frequency

Steering control input filter. Lower values reduce noise but add delay.

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_STR_RAT_FLTT: Steering control Target filter frequency in Hz

Target filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_STR_RAT_FLTE: Steering control Error filter frequency in Hz

Error filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_STR_RAT_FLTD: Steering control Derivative term filter frequency in Hz

Derivative filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_STR_RAT_SMAX: Steering slew rate limit

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Increment

Range

0.5

0 - 200

ATC_SPEED_P: Speed control P gain

Speed control P gain. Converts the error between the desired speed (in m/s) and actual speed to a motor output (in the range -1 to +1)

Increment

Range

0.01

0.010 - 2.000

ATC_SPEED_I: Speed control I gain

Speed control I gain. Corrects long term error between the desired speed (in m/s) and actual speed

Increment

Range

0.01

0.000 - 2.000

ATC_SPEED_IMAX: Speed control I gain maximum

Speed control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate

Increment

Range

0.01

0.000 - 1.000

ATC_SPEED_D: Speed control D gain

Speed control D gain. Compensates for short-term change in desired speed vs actual

Increment

Range

0.001

0.000 - 0.400

ATC_SPEED_FF: Speed control feed forward

Speed control feed forward

Increment

Range

0.001

0.000 - 0.500

ATC_SPEED_FILT: Speed control filter frequency

Speed control input filter. Lower values reduce noise but add delay.

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_SPEED_FLTT: Speed control Target filter frequency in Hz

Target filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_SPEED_FLTE: Speed control Error filter frequency in Hz

Error filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_SPEED_FLTD: Speed control Derivative term filter frequency in Hz

Derivative filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_SPEED_SMAX: Speed control slew rate limit

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Increment

Range

0.5

0 - 200

ATC_ACCEL_MAX: Speed control acceleration (and deceleration) maximum in m/s/s

Speed control acceleration (and deceleration) maximum in m/s/s. 0 to disable acceleration limiting

Increment

Range

Units

0.1

0.0 - 10.0

meters per square second

ATC_BRAKE: Speed control brake enable/disable

Speed control brake enable/disable. Allows sending a reversed output to the motors to slow the vehicle.

Values

Value

Meaning

0

Disable

1

Enable

ATC_STOP_SPEED: Speed control stop speed

Speed control stop speed. Motor outputs to zero once vehicle speed falls below this value

Increment

Range

Units

0.01

0.00 - 0.50

meters per second

ATC_STR_ANG_P: Steering control angle P gain

Steering control angle P gain. Converts the error between the desired heading/yaw (in radians) and actual heading/yaw to a desired turn rate (in rad/sec)

Increment

Range

0.1

1.000 - 10.000

ATC_STR_ACC_MAX: Steering control angular acceleration maximum

Steering control angular acceleration maximum (in deg/s/s). 0 to disable acceleration limiting

Increment

Range

Units

0.1

0 - 1000

degrees per square second

ATC_STR_RAT_MAX: Steering control rotation rate maximum

Steering control rotation rate maximum in deg/s. 0 to remove rate limiting

Increment

Range

Units

0.1

0 - 1000

degrees per second

ATC_DECEL_MAX: Speed control deceleration maximum in m/s/s

Speed control and deceleration maximum in m/s/s. 0 to use ATC_ACCEL_MAX for deceleration

Increment

Range

Units

0.1

0.0 - 10.0

meters per square second

ATC_BAL_P: Pitch control P gain

Pitch control P gain for BalanceBots. Converts the error between the desired pitch (in radians) and actual pitch to a motor output (in the range -1 to +1)

Increment

Range

0.01

0.000 - 2.000

ATC_BAL_I: Pitch control I gain

Pitch control I gain for BalanceBots. Corrects long term error between the desired pitch (in radians) and actual pitch

Increment

Range

0.01

0.000 - 2.000

ATC_BAL_IMAX: Pitch control I gain maximum

Pitch control I gain maximum. Constrains the maximum motor output (range -1 to +1) that the I term will generate

Increment

Range

0.01

0.000 - 1.000

ATC_BAL_D: Pitch control D gain

Pitch control D gain. Compensates for short-term change in desired pitch vs actual

Increment

Range

0.001

0.000 - 0.100

ATC_BAL_FF: Pitch control feed forward

Pitch control feed forward

Increment

Range

0.001

0.000 - 0.500

ATC_BAL_FILT: Pitch control filter frequency

Pitch control input filter. Lower values reduce noise but add delay.

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_BAL_FLTT: Pitch control Target filter frequency in Hz

Target filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_BAL_FLTE: Pitch control Error filter frequency in Hz

Error filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_BAL_FLTD: Pitch control Derivative term filter frequency in Hz

Derivative filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_BAL_SMAX: Pitch control slew rate limit

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Increment

Range

0.5

0 - 200

ATC_BAL_SPD_FF: Pitch control feed forward from speed

Pitch control feed forward from speed

Increment

Range

0.01

0.0 - 10.0

ATC_SAIL_P: Sail Heel control P gain

Sail Heel control P gain for sailboats. Converts the error between the desired heel angle (in radians) and actual heel to a main sail output (in the range -1 to +1)

Increment

Range

0.01

0.000 - 2.000

ATC_SAIL_I: Sail Heel control I gain

Sail Heel control I gain for sailboats. Corrects long term error between the desired heel angle (in radians) and actual

Increment

Range

0.01

0.000 - 2.000

ATC_SAIL_IMAX: Sail Heel control I gain maximum

Sail Heel control I gain maximum. Constrains the maximum I term contribution to the main sail output (range -1 to +1)

Increment

Range

0.01

0.000 - 1.000

ATC_SAIL_D: Sail Heel control D gain

Sail Heel control D gain. Compensates for short-term change in desired heel angle vs actual

Increment

Range

0.001

0.000 - 0.100

ATC_SAIL_FF: Sail Heel control feed forward

Sail Heel control feed forward

Increment

Range

0.001

0.000 - 0.500

ATC_SAIL_FILT: Sail Heel control filter frequency

Sail Heel control input filter. Lower values reduce noise but add delay.

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_SAIL_FLTT: Sail Heel Target filter frequency in Hz

Target filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_SAIL_FLTE: Sail Heel Error filter frequency in Hz

Error filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_SAIL_FLTD: Sail Heel Derivative term filter frequency in Hz

Derivative filter frequency in Hz

Increment

Range

Units

0.1

0.000 - 100.000

hertz

ATC_SAIL_SMAX: Sail heel slew rate limit

Note: This parameter is for advanced users

Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.

Increment

Range

0.5

0 - 200

ATC_TURN_MAX_G: Turning maximum G force

The maximum turning acceleration (in units of gravities) that the rover can handle while remaining stable. The navigation code will keep the lateral acceleration below this level to avoid rolling over or slipping the wheels in turns

Increment

Range

Units

0.01

0.1 - 10

standard acceleration due to gravity

AVOID_ Parameters

AVOID_ENABLE: Avoidance control enable/disable

Enabled/disable avoidance input sources

Bitmask

Bit

Meaning

0

UseFence

1

UseProximitySensor

2

UseBeaconFence

AVOID_MARGIN: Avoidance distance margin in GPS modes

Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes

Range

Units

1 - 10

meters

AVOID_BACKUP_SPD: Avoidance maximum backup speed

Maximum speed that will be used to back away from obstacles in GPS modes (m/s). Set zero to disable

Range

Units

0 - 2

meters per second

AVOID_ACCEL_MAX: Avoidance maximum acceleration

Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits

Range

Units

0 - 9

meters per square second

AVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle

Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.

Range

Units

0 - 2

meters

BARO Parameters

BARO1_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment

ReadOnly

Units

Volatile

1

True

pascal

True

BARO_GND_TEMP: ground temperature

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This selects which barometer will be the primary if multiple barometers are found

Values

Value

Meaning

0

FirstBaro

1

2ndBaro

2

3rdBaro

BARO_EXT_BUS: External baro bus

Note: This parameter is for advanced users

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

Value

Meaning

-1

Disabled

0

Bus0

1

Bus1

BARO_SPEC_GRAV: Specific Gravity (For water depth measurement)

This sets the specific gravity of the fluid when flying an underwater ROV.

Values

Value

Meaning

1.0

Freshwater

1.024

Saltwater

BARO2_GND_PRESS: Ground Pressure

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment

ReadOnly

Units

Volatile

1

True

pascal

True

BARO3_GND_PRESS: Absolute Pressure

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Bit

Meaning

0

BMP085

1

BMP280

2

MS5611

3

MS5607

4

MS5637

5

FBM320

6

DPS280

7

LPS25H

8

Keller

9

MS5837

10

BMP388

11

SPL06

12

MSP

BARO1_DEVID: Baro ID

Note: This parameter is for advanced users

Barometer sensor ID, taking into account its type, bus and instance

ReadOnly

True

BARO2_DEVID: Baro ID2

Note: This parameter is for advanced users

Barometer2 sensor ID, taking into account its type, bus and instance

ReadOnly

True

BARO3_DEVID: Baro ID3

Note: This parameter is for advanced users

Barometer3 sensor ID, taking into account its type, bus and instance

ReadOnly

True

BARO1_WCF_ Parameters

BARO1_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value

Meaning

0

Disabled

1

Enabled

BARO1_WCF_FWD: Pressure error coefficient in positive X direction (forward)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO1_WCF_BCK: Pressure error coefficient in negative X direction (backwards)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO1_WCF_RGT: Pressure error coefficient in positive Y direction (right)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO1_WCF_LFT: Pressure error coefficient in negative Y direction (left)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO2_WCF_ Parameters

BARO2_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value

Meaning

0

Disabled

1

Enabled

BARO2_WCF_FWD: Pressure error coefficient in positive X direction (forward)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO2_WCF_BCK: Pressure error coefficient in negative X direction (backwards)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO2_WCF_RGT: Pressure error coefficient in positive Y direction (right)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO2_WCF_LFT: Pressure error coefficient in negative Y direction (left)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO3_WCF_ Parameters

BARO3_WCF_ENABLE: Wind coefficient enable

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value

Meaning

0

Disabled

1

Enabled

BARO3_WCF_FWD: Pressure error coefficient in positive X direction (forward)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO3_WCF_BCK: Pressure error coefficient in negative X direction (backwards)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO3_WCF_RGT: Pressure error coefficient in positive Y direction (right)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BARO3_WCF_LFT: Pressure error coefficient in negative Y direction (left)

Note: This parameter is for advanced users

This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_BCOEF_X and EK3_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 - 1.0

BATT2_ Parameters

BATT2_MONITOR: Battery monitoring

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT2_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT2_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT2_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT2_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT2_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT2_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT2_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT2_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT2_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT2_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT2_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT2_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT3_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT3_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT3_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT3_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT3_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT3_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT3_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT3_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT3_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT3_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT3_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT3_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT3_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT4_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT4_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT4_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT4_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT4_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT4_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT4_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT4_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT4_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT4_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT4_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT4_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT4_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT5_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT5_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT5_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT5_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT5_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT5_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT5_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT5_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT5_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT5_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT5_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT5_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT5_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT6_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT6_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT6_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT6_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT6_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT6_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT6_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT6_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT6_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT6_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT6_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT6_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT6_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT7_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT7_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT7_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT7_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT7_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT7_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT7_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT7_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT7_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT7_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT7_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT7_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT7_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT8_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT8_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT8_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT8_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT8_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT8_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT8_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT8_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT8_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT8_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT8_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT8_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT8_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT9_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT9_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT9_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT9_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT9_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT9_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT9_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT9_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT9_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT9_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT9_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT9_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT9_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

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

Note: Reboot required after change

Controls enabling monitoring of the battery's voltage and current

Values

Value

Meaning

0

Disabled

3

Analog Voltage Only

4

Analog Voltage and Current

5

Solo

6

Bebop

7

SMBus-Generic

8

DroneCAN-BatteryInfo

9

ESC

10

Sum Of Selected Monitors

11

FuelFlow

12

FuelLevelPWM

13

SMBUS-SUI3

14

SMBUS-SUI6

15

NeoDesign

16

SMBus-Maxell

17

Generator-Elec

18

Generator-Fuel

19

Rotoye

20

MPPT

21

INA2XX

22

LTC2946

23

Torqeedo

BATT_CAPACITY: Battery capacity

Capacity of the battery in mAh when full

Increment

Units

50

milliampere hour

BATT_SERIAL_NUM: Battery serial number

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value

Meaning

0

Raw Voltage

1

Sag Compensated Voltage

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

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT_FS_CRT_ACT: Critical battery failsafe action

What action the vehicle should perform if it hits a critical battery failsafe

Values

Value

Meaning

0

None

1

RTL

2

Hold

3

SmartRTL

4

SmartRTL or Hold

5

Terminate

BATT_ARM_VOLT: Required arming voltage

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit

Meaning

0

Ignore DroneCAN SoC

1

MPPT reports input voltage and current

2

MPPT Powered off when disarmed

3

MPPT Powered on when armed

4

MPPT Powered off at boot

5

MPPT Powered on at boot

6

Send resistance compensated voltage to GCS

BATT_VOLT_PIN: Battery Voltage sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for voltage monitoring.

Values

Value

Meaning

-1

Disabled

2

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

5

Navigator

13

Pixhawk2_PM2/CubeOrange_PM2

14

CubeOrange

16

Durandal

100

PX4-v1

BATT_CURR_PIN: Battery Current sensing pin

Note: Reboot required after change

Sets the analog input pin that should be used for current monitoring.

Values

Value

Meaning

-1

Disabled

3

Pixhawk/Pixracer/Navio2/Pixhawk2_PM1

4

CubeOrange_PM2/Navigator

14

Pixhawk2_PM2

15

CubeOrange

17

Durandal

101

PX4-v1

BATT_VOLT_MULT: Voltage Multiplier

Note: This parameter is for advanced users

Used to convert the voltage of the voltage sensing pin (BATT_VOLT_PIN) to the actual battery's voltage (pin_voltage * VOLT_MULT). For the 3DR Power brick with a Pixhawk, this should be set to 10.1. For the Pixhawk with the 3DR 4in1 ESC this should be 12.02. For the PX using the PX4IO power supply this should be set to 1.

BATT_AMP_PERVLT: Amps per volt

Number of amps that a 1V reading on the current sensor corresponds to. With a Pixhawk using the 3DR Power brick this should be set to 17. For the Pixhawk with the 3DR 4in1 ESC this should be 17.

Units

ampere per volt

BATT_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor

Units

volt

BATT_VLT_OFFSET: Volage offset

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

Battery monitor I2C bus number

Range

0 - 3

BATT_I2C_ADDR: Battery monitor I2C address

Note: This parameter is for advanced users
Note: Reboot required after change

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

Bit

Meaning

0

monitor 1

1

monitor 2

2

monitor 3

3

monitor 4

4

monitor 5

5

monitor 6

6

monitor 7

7

monitor 8

8

monitor 9

BATT_CURR_MULT: Scales reported power monitor current

Note: This parameter is for advanced users

Multiplier applied to all current related reports to allow for adjustment if no UAVCAN param access or current splitting applications

Range

.1 - 10

BCN Parameters

BCN_TYPE: Beacon based position estimation device type

Note: This parameter is for advanced users

What type of beacon based position estimation device is connected

Values

Value

Meaning

0

None

1

Pozyx

2

Marvelmind

3

Nooploop

10

SITL

BCN_LATITUDE: Beacon origin's latitude

Note: This parameter is for advanced users

Beacon origin's latitude

Increment

Range

Units

0.000001

-90 - 90

degrees

BCN_LONGITUDE: Beacon origin's longitude

Note: This parameter is for advanced users

Beacon origin's longitude

Increment

Range

Units

0.000001

-180 - 180

degrees

BCN_ALT: Beacon origin's altitude above sealevel in meters

Note: This parameter is for advanced users

Beacon origin's altitude above sealevel in meters

Increment

Range

Units

1

0 - 10000

meters

BCN_ORIENT_YAW: Beacon systems rotation from north in degrees

Note: This parameter is for advanced users

Beacon systems rotation from north in degrees

Increment

Range

Units

1

-180 - +180

degrees

BRD_ Parameters

BRD_SER1_RTSCTS: Serial 1 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

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

Value

Meaning

0

Disabled

1

Enabled

2

Auto

BRD_SER2_RTSCTS: Serial 2 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

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

Value

Meaning

0

Disabled

1

Enabled

2

Auto

BRD_SER3_RTSCTS: Serial 3 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

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

Value

Meaning

0

Disabled

1

Enabled

2

Auto

BRD_SER4_RTSCTS: Serial 4 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

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

Value

Meaning

0

Disabled

1

Enabled

2

Auto

BRD_SER5_RTSCTS: Serial 5 flow control

Note: This parameter is for advanced users
Note: Reboot required after change

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

Value

Meaning

0

Disabled

1

Enabled

2

Auto

BRD_SAFETYENABLE: Enable use of safety arming switch

Note: Reboot required after change

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

Value

Meaning

0

Disabled

1

Enabled

BRD_SBUS_OUT: SBUS output rate

Note: This parameter is for advanced users
Note: Reboot required after change

This sets the SBUS output frame rate in Hz

Values

Value

Meaning

0

Disabled

1

50Hz

2

75Hz

3

100Hz

4

150Hz

5

200Hz

6

250Hz

7

300Hz

BRD_SERIAL_NUM: User-defined serial number

User-defined serial number of this vehicle, it can be any arbitrary number you want and has no effect on the autopilot

Range

-32768 - 32767

BRD_SAFETY_MASK: Outputs which ignore the safety switch state

Note: This parameter is for advanced users
Note: Reboot required after change

A bitmask which controls what outputs can move while the safety switch has not been pressed

Bitmask

Bit

Meaning

0

Output1

1

Output2

2

Output3

3

Output4

4

Output5

5

Output6

6

Output7

7

Output8

8

Output9

9

Output10

10

Output11

11

Output12

12

Output13

13

Output14

BRD_HEAT_TARG: Board heater temperature target

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users
Note: Reboot required after change

This allows selection of a PX4 or VRBRAIN board type. If set to zero then the board type is auto-detected (PX4)

Values

Value

Meaning

0

AUTO

1

PX4V1

2

Pixhawk

3

Cube/Pixhawk2

4

Pixracer

5

PixhawkMini

6

Pixhawk2Slim

13

Intel Aero FC

14

Pixhawk Pro

20

AUAV2.1

21

PCNC1

22

MINDPXV2

23

SP01

24

CUAVv5/FMUV5

30

VRX BRAIN51

32

VRX BRAIN52

33

VRX BRAIN52E

34

VRX UBRAIN51

35

VRX UBRAIN52

36

VRX CORE10

38

VRX BRAIN54

39

PX4 FMUV6

100

PX4 OLDDRIVERS

BRD_IO_ENABLE: Enable IO co-processor

Note: This parameter is for advanced users
Note: Reboot required after change

This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled

Values

Value

Meaning

0

Disabled

1

Enabled

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

Bit

Meaning

0

ActiveForSafetyEnable

1

ActiveForSafetyDisable

2

ActiveWhenArmed

3

Force safety on when the aircraft disarms

BRD_VBUS_MIN: Autopilot board voltage requirement

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

This sets the voltage max for PWM output pulses. 0 for 3.3V and 1 for 5V output.

Values

Value

Meaning

0

3.3V

1

5V

BRD_OPTIONS: Board options

Note: This parameter is for advanced users

Board specific option flags

Bitmask

Bit

Meaning

0

Enable hardware watchdog

1

Disable MAVftp

2

Enable set of internal parameters

3

Enable Debug Pins

4

Unlock flash on reboot

5

Write protect firmware flash on reboot

6

Write protect bootloader flash on reboot

BRD_BOOT_DELAY: Boot delay

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

Board Heater P gain

Increment

Range

1

1 - 500

BRD_HEAT_I: Board Heater I gain

Note: This parameter is for advanced users

Board Heater integrator gain

Increment

Range

0.1

0 - 1

BRD_HEAT_IMAX: Board Heater IMAX

Note: This parameter is for advanced users

Board Heater integrator maximum

Increment

Range

1

0 - 100

BRD_ALT_CONFIG: Alternative HW config

Note: This parameter is for advanced users
Note: Reboot required after change

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

Note: This parameter is for advanced users

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

Value

Meaning

0

None

1

CYRF6936

2

CC2500

3

BK2425

BRD_RADIO_PROT: protocol

Note: This parameter is for advanced users

Select air protocol

Values

Value

Meaning

0

Auto

1

DSM2

2

DSMX

BRD_RADIO_DEBUG: debug level

Note: This parameter is for advanced users

radio debug level

Range

0 - 4

BRD_RADIO_DISCRC: disable receive CRC

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values

Value

Meaning

0

NotDisabled

1

Disabled

BRD_RADIO_SIGCH: RSSI signal strength

Note: This parameter is for advanced users

Channel to show receive RSSI signal strength, or zero for disabled

Range

0 - 16

BRD_RADIO_PPSCH: Packet rate channel

Note: This parameter is for advanced users

Channel to show received packet-per-second rate, or zero for disabled

Range

0 - 16

BRD_RADIO_TELEM: Enable telemetry

Note: This parameter is for advanced users

If this is non-zero then telemetry packets will be sent over DSM

Values

Value

Meaning

0

Disabled

1

Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power

Note: This parameter is for advanced users

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

Note: This parameter is for advanced users

If this is enabled then the radio will continuously transmit as required for FCC testing. The transmit channel is set by the value of the parameter. The radio will not work for RC input while this is enabled

Values

Value

Meaning

0

Disabled

1

MinChannel

2

MidChannel

3

MaxChannel

4

MinChannelCW

5

MidChannelCW

6

MaxChannelCW

BRD_RADIO_STKMD: Stick input mode

Note: This parameter is for advanced users

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

Value

Meaning

1

Mode1

2

Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel

Note: This parameter is for advanced users

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

Value

Meaning

0

Disabled

1

TestChan1

2

TestChan2

3

TestChan3

4

TestChan4

5

TestChan5

6

TestChan6

7

TestChan7

8

TestChan8

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range

0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel

Note: This parameter is for advanced users

Channel to show telemetry packets-per-second value, as received at TX

Range

0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range

1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range

0 - 40

BRD_RADIO_ABTIME: Auto-bind time

Note: This parameter is for advanced users

When non-zero this sets the time with no transmitter packets before we start looking for auto-bind packets.

Range

0 - 120

BRD_RADIO_ABLVL: Auto-bind level

Note: This parameter is for advanced users

This sets the minimum RSSI of an auto-bind packet for it to be accepted. This should be set so that auto-bind will only happen at short range to minimise the change of an auto-bind happening accidentially

Range

0 - 31

BRD_RTC Parameters

BRD_RTC_TYPES: Allowed sources of RTC time

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask

Bit

Meaning

0

GPS

1

MAVLINK_SYSTEM_TIME

2

HW

BRD_RTC_TZ_MIN: Timezone offset from UTC

Note: This parameter is for advanced users

Adds offset in +- minutes from UTC to calculate local time

Range

-720 - +840

BTN_ Parameters

BTN_ENABLE: Enable button reporting

Note: This parameter is for advanced users

This enables the button checking module. When this is disabled the parameters for setting button inputs are not visible

Values

Value

Meaning

0

Disabled

1

Enabled

BTN_PIN1: First button Pin

Digital pin number for first button input.

Values

Value

Meaning

-1

Disabled

50

AUXOUT1

51

AUXOUT2

52

AUXOUT3

53

AUXOUT4

54

AUXOUT5

55

AUXOUT6

BTN_PIN2: Second button Pin

Digital pin number for second button input.

Values

Value

Meaning

-1

Disabled

50

AUXOUT1

51

AUXOUT2

52

AUXOUT3

53

AUXOUT4

54

AUXOUT5

55

AUXOUT6

BTN_PIN3: Third button Pin

Digital pin number for third button input.

Values

Value

Meaning

-1

Disabled

50

AUXOUT1

51

AUXOUT2

52

AUXOUT3

53

AUXOUT4

54

AUXOUT5

55

AUXOUT6

BTN_PIN4: Fourth button Pin

Digital pin number for fourth button input.

Values

Value

Meaning

-1

Disabled

50

AUXOUT1

51

AUXOUT2

52

AUXOUT3

53

AUXOUT4

54

AUXOUT5

55

AUXOUT6

BTN_REPORT_SEND: Report send time

The duration in seconds that a BUTTON_CHANGE report is repeatedly sent to the GCS regarding a button changing state. Note that the BUTTON_CHANGE message is MAVLink2 only.

Range

0 - 3600

BTN_OPTIONS1: Button Pin 1 Options

Options for Pin 1. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask

Bit

Meaning

0

PWM Input

1

InvertInput

BTN_OPTIONS2: Button Pin 2 Options

Options for Pin 2. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask

Bit

Meaning

0

PWM Input

1

InvertInput

BTN_OPTIONS3: Button Pin 3 Options

Options for Pin 3. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask

Bit

Meaning

0

PWM Input

1

InvertInput

BTN_OPTIONS4: Button Pin 4 Options

Options for Pin 4. PWM input detects PWM above or below 1800/1200us instead of logic level. Invert changes HIGH state to be logic low voltage on pin, or below 1200us, if PWM input.

Bitmask

Bit

Meaning

0

PWM Input

1

InvertInput

BTN_FUNC1: Button Pin 1 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value

Meaning

0

Do Nothing

4

RTL

5

Save Trim (4.1 and lower)

7

Save WP

9

Camera Trigger

11

Fence

16

Auto

19

Gripper

24

Auto Mission Reset

27

Retract Mount

28

Relay On/Off

30

Lost Rover Sound

31

Motor Emergency Stop

34

Relay2 On/Off

35

Relay3 On/Off

36

Relay4 On/Off

40

Proximity Avoidance

41

ArmDisarm (4.1 and lower)

42

SmartRTL

46

RC Override Enable

50

LearnCruise

51

Manual

52

Acro

53

Steering

54

Hold

55

Guided

56

Loiter

57

Follow

58

Clear Waypoints

59

Simple Mode

62

Compass Learn

63

Sailboat Tack

65

GPS Disable

66

Relay5 On/Off

67

Relay6 On/Off

74

Sailboat motoring 3pos

78

RunCam Control

79

RunCam OSD Control

80

Viso Align

81

Disarm

90

EKF Pos Source

94

VTX Power

97

Windvane home heading direction offset

100

KillIMU1

101

KillIMU2

102

Camera Mode Toggle

105

GPS Disable Yaw

106

Disable Airspeed Use

153

ArmDisarm (4.2 and higher)

155

set steering trim to current servo and RC

156

Torqeedo Clear Err

201

Roll

202

Pitch

207

MainSail

208

Flap

211

Walking Height

300

Scripting1

301

Scripting2

302

Scripting3

303

Scripting4

304

Scripting5

305

Scripting6

306

Scripting7

307

Scripting8

BTN_FUNC2: Button Pin 2 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value

Meaning

0

Do Nothing

4

RTL

5

Save Trim (4.1 and lower)

7

Save WP

9

Camera Trigger

11

Fence

16

Auto

19

Gripper

24

Auto Mission Reset

27

Retract Mount

28

Relay On/Off

30

Lost Rover Sound

31

Motor Emergency Stop

34

Relay2 On/Off

35

Relay3 On/Off

36

Relay4 On/Off

40

Proximity Avoidance

41

ArmDisarm (4.1 and lower)

42

SmartRTL

46

RC Override Enable

50

LearnCruise

51

Manual

52

Acro

53

Steering

54

Hold

55

Guided

56

Loiter

57

Follow

58

Clear Waypoints

59

Simple Mode

62

Compass Learn

63

Sailboat Tack

65

GPS Disable

66

Relay5 On/Off

67

Relay6 On/Off

74

Sailboat motoring 3pos

78

RunCam Control

79

RunCam OSD Control

80

Viso Align

81

Disarm

90

EKF Pos Source

94

VTX Power

97

Windvane home heading direction offset

100

KillIMU1

101

KillIMU2

102

Camera Mode Toggle

105

GPS Disable Yaw

106

Disable Airspeed Use

153

ArmDisarm (4.2 and higher)

155

set steering trim to current servo and RC

156

Torqeedo Clear Err

201

Roll

202

Pitch

207

MainSail

208

Flap

211

Walking Height

300

Scripting1

301

Scripting2

302

Scripting3

303

Scripting4

304

Scripting5

305

Scripting6

306

Scripting7

307

Scripting8

BTN_FUNC3: Button Pin 3 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value

Meaning

0

Do Nothing

4

RTL

5

Save Trim (4.1 and lower)

7

Save WP

9

Camera Trigger

11

Fence

16

Auto

19

Gripper

24

Auto Mission Reset

27

Retract Mount

28

Relay On/Off

30

Lost Rover Sound

31

Motor Emergency Stop

34

Relay2 On/Off

35

Relay3 On/Off

36

Relay4 On/Off

40

Proximity Avoidance

41

ArmDisarm (4.1 and lower)

42

SmartRTL

46

RC Override Enable

50

LearnCruise

51

Manual

52

Acro

53

Steering

54

Hold

55

Guided

56

Loiter

57

Follow

58

Clear Waypoints

59

Simple Mode

62

Compass Learn

63

Sailboat Tack

65

GPS Disable

66

Relay5 On/Off

67

Relay6 On/Off

74

Sailboat motoring 3pos

78

RunCam Control

79

RunCam OSD Control

80

Viso Align

81

Disarm

90

EKF Pos Source

94

VTX Power

97

Windvane home heading direction offset

100

KillIMU1

101

KillIMU2

102

Camera Mode Toggle

105

GPS Disable Yaw

106

Disable Airspeed Use

153

ArmDisarm (4.2 and higher)

155

set steering trim to current servo and RC

156

Torqeedo Clear Err

201

Roll

202

Pitch

207

MainSail

208

Flap

211

Walking Height

300

Scripting1

301

Scripting2

302

Scripting3

303

Scripting4

304

Scripting5

305

Scripting6

306

Scripting7

307

Scripting8

BTN_FUNC4: Button Pin 4 RC Channel function

Auxiliary RC Options function executed on pin change

Values

Value

Meaning

0

Do Nothing

4

RTL

5

Save Trim (4.1 and lower)

7

Save WP

9

Camera Trigger

11

Fence

16

Auto

19

Gripper

24

Auto Mission Reset

27

Retract Mount

28

Relay On/Off

30

Lost Rover Sound

31

Motor Emergency Stop

34

Relay2 On/Off

35

Relay3 On/Off

36

Relay4 On/Off

40

Proximity Avoidance

41

ArmDisarm (4.1 and lower)

42

SmartRTL

46

RC Override Enable

50

LearnCruise

51

Manual

52

Acro

53

Steering

54

Hold

55

Guided

56

Loiter

57

Follow

58

Clear Waypoints

59

Simple Mode

62

Compass Learn

63

Sailboat Tack

65

GPS Disable

66

Relay5 On/Off

67

Relay6 On/Off

74

Sailboat motoring 3pos

78

RunCam Control

79

RunCam OSD Control

80

Viso Align

81

Disarm

90

EKF Pos Source

94

VTX Power

97

Windvane home heading direction offset

100

KillIMU1

101

KillIMU2

102

Camera Mode Toggle

105

GPS Disable Yaw

106

Disable Airspeed Use

153

ArmDisarm (4.2 and higher)

155

set steering trim to current servo and RC

156

Torqeedo Clear Err

201

Roll

202

Pitch

207

MainSail

208

Flap

211

Walking Height

300

Scripting1

301

Scripting2

302

Scripting3

303

Scripting4

304

Scripting5

305

Scripting6

306

Scripting7

307

Scripting8

CAM_ Parameters

CAM_TRIGG_TYPE: Camera shutter (trigger) type

how to trigger the camera to take a picture

Values

Value

Meaning

0

Servo

1

Relay

2

GoPro in Solo Gimbal

CAM_DURATION: Duration that shutter is held open

How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)

Range

Units

0 - 50

deciseconds

CAM_SERVO_ON: Servo ON PWM value

PWM value in microseconds to move servo to when shutter is activated

Range

Units

1000 - 2000

PWM in microseconds

CAM_SERVO_OFF: Servo OFF PWM value

PWM value in microseconds to move servo to when shutter is deactivated

Range

Units

1000 - 2000

PWM in microseconds

CAM_TRIGG_DIST: Camera trigger distance

Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.

Range

Units

0 - 1000

meters

CAM_RELAY_ON: Relay ON value

This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera

Values

Value

Meaning

0

Low

1

High

CAM_MIN_INTERVAL: Minimum time between photos

Postpone shooting if previous picture was taken less than preset time(ms) ago.

Range

Units

0 - 10000

milliseconds

CAM_MAX_ROLL: Maximum photo roll angle.

Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).

Range

Units

0 - 180

degrees

CAM_FEEDBACK_PIN: Camera feedback pin

Note: Reboot required after change

pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option.

Values

Value

Meaning

-1

Disabled

50

AUX1

51

AUX2

52

AUX3

53

AUX4

54

AUX5

55

AUX6

CAM_FEEDBACK_POL: Camera feedback pin polarity

Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low

Values

Value

Meaning

0

TriggerLow

1

TriggerHigh

CAM_AUTO_ONLY: Distance-trigging in AUTO mode only

When enabled, trigging by distance is done in AUTO mode only.

Values

Value

Meaning

0

Always

1

Only when in AUTO

CAM_TYPE: Type of camera (0: None, 1: BMMCC)

Set the camera type that is being used, certain cameras have custom functions that need further configuration, this enables that.

Values

Value

Meaning

0

Default

1

BMMCC

CAM_RC_ Parameters

CAM_RC_TYPE: RunCam device type

RunCam deviee type used to determine OSD menu structure and shutter options.

Values

Value

Meaning

0

Disabled

1

RunCam Split Micro/RunCam with UART

2

RunCam Split

3

RunCam Split4 4k

4

RunCam Hybrid

CAM_RC_FEATURES: RunCam features available

Note: This parameter is for advanced users

The available features of the attached RunCam device. If 0 then the RunCam device will be queried for the features it supports, otherwise this setting is used.

Bitmask

Bit

Meaning

0

Power Button

1

WiFi Button

2

Change Mode

3

5-Key OSD

4

Settings Access

5

DisplayPort

6

Start Recording

7

Stop Recording

CAM_RC_BT_DELAY: RunCam boot delay before allowing updates

Note: This parameter is for advanced users

Time it takes for the RunCam to become fully ready in ms. If this is too short then commands can get out of sync.

CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses

Note: This parameter is for advanced users

Time it takes for the a RunCam button press to be actived in ms. If this is too short then commands can get out of sync.

CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses

Note: This parameter is for advanced users

Time it takes for the a RunCam mode button press to be actived in ms. If a mode change first requires a video recording change then double this value is used. If this is too short then commands can get out of sync.

CAM_RC_CONTROL: RunCam control option

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu

Bitmask

Bit

Meaning

0

Stick yaw right

1

Stick roll right

2

3-position switch

3

2-position switch

4

Autorecording enabled

CAN_ Parameters

CAN_LOGLEVEL: Loglevel

Note: This parameter is for advanced users

Loglevel for recording initialisation and debug information from CAN Interface

Range

Values

0 - 4

Value

Meaning

0

Log None

1

Log Error

2

Log Warning and below

3

Log Info and below

4

Log Everything

CAN_D1_ Parameters

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users
Note: Reboot required after change

Enabling this option starts selected protocol that will use this virtual driver

Values

Value

Meaning

0

Disabled

1

DroneCAN

3

ToshibaCAN

4

PiccoloCAN

5

CANTester

6

EFI_NWPMU

7

USD1

8

KDECAN

10

Scripting

11

Benewake

CAN_D1_KDE_ Parameters

CAN_D1_KDE_NPOLE: Number of motor poles

Sets the number of motor poles to calculate the correct RPM value

CAN_D1_PC_ Parameters

CAN_D1_PC_ESC_BM: ESC channels

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask

Bit

Meaning

0

ESC 1

1

ESC 2

2

ESC 3

3

ESC 4

4

ESC 5

5

ESC 6

6

ESC 7

7

ESC 8

8

ESC 9

9

ESC 10

10

ESC 11

11

ESC 12

12

ESC 13

13

ESC 14

14

ESC 15

15

ESC 16

CAN_D1_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range

Units

1 - 500

hertz

CAN_D1_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask

Bit

Meaning

0

Servo 1

1

Servo 2

2

Servo 3

3

Servo 4

4

Servo 5

5

Servo 6

6

Servo 7

7

Servo 8

8

Servo 9

9

Servo 10

10

Servo 11

11

Servo 12

12

Servo 13

13

Servo 14

14

Servo 15

15

Servo 16

CAN_D1_PC_SRV_RT: Servo command output rate

Note: This parameter is for advanced users

Output rate of servo command messages

Range

Units

1 - 500

hertz

CAN_D1_TST_ Parameters

CAN_D1_TST_ID: CAN Test Index

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range

Values

0 - 4

Value

Meaning

0

TEST_NONE

1

TEST_LOOPBACK

2

TEST_BUSOFF_RECOVERY

3

TEST_UAVCAN_DNA

4

TEST_TOSHIBA_CAN

5

TEST_KDE_CAN

6

TEST_UAVCAN_ESC

CAN_D1_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units

microseconds

CAN_D1_UC_ Parameters

CAN_D1_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range

1 - 250

CAN_D1_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a servo command over UAVCAN

Bitmask

Bit

Meaning

0

Servo 1

1

Servo 2

2

Servo 3

3

Servo 4

4

Servo 5

5

Servo 6

6

Servo 7

7

Servo 8

8

Servo 9

9

Servo 10

10

Servo 11

11

Servo 12

12

Servo 13

13

Servo 14

14

Servo 15

CAN_D1_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN

Bitmask

Bit

Meaning

0

ESC 1

1

ESC 2

2

ESC 3

3

ESC 4

4

ESC 5

5

ESC 6

6

ESC 7

7

ESC 8

8

ESC 9

9

ESC 10

10

ESC 11

11

ESC 12

12

ESC 13

13

ESC 14

14

ESC 15

15

ESC 16

CAN_D1_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range

Units

1 - 200

hertz

CAN_D1_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask

Bit

Meaning

0

ClearDNADatabase

1

IgnoreDNANodeConflicts

CAN_D1_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range

Units

1 - 200

hertz

CAN_D1_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range

0 - 18

CAN_D1_UC_POOL: CAN pool size

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range

1024 - 16384

CAN_D2_ Parameters

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users
Note: Reboot required after change

Enabling this option starts selected protocol that will use this virtual driver

Values

Value

Meaning

0

Disabled

1

DroneCAN

3

ToshibaCAN

4

PiccoloCAN

5

CANTester

6

EFI_NWPMU

7

USD1

8

KDECAN

10

Scripting

11

Benewake

CAN_D2_KDE_ Parameters

CAN_D2_KDE_NPOLE: Number of motor poles

Sets the number of motor poles to calculate the correct RPM value

CAN_D2_PC_ Parameters

CAN_D2_PC_ESC_BM: ESC channels

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask

Bit

Meaning

0

ESC 1

1

ESC 2

2

ESC 3

3

ESC 4

4

ESC 5

5

ESC 6

6

ESC 7

7

ESC 8

8

ESC 9

9

ESC 10

10

ESC 11

11

ESC 12

12

ESC 13

13

ESC 14

14

ESC 15

15

ESC 16

CAN_D2_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range

Units

1 - 500

hertz

CAN_D2_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask

Bit

Meaning

0

Servo 1

1

Servo 2

2

Servo 3

3

Servo 4

4

Servo 5

5

Servo 6

6

Servo 7

7

Servo 8

8

Servo 9

9

Servo 10

10

Servo 11

11

Servo 12

12

Servo 13

13

Servo 14

14

Servo 15

15

Servo 16

CAN_D2_PC_SRV_RT: Servo command output rate

Note: This parameter is for advanced users

Output rate of servo command messages

Range

Units

1 - 500

hertz

CAN_D2_TST_ Parameters

CAN_D2_TST_ID: CAN Test Index

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range

Values

0 - 4

Value

Meaning

0

TEST_NONE

1

TEST_LOOPBACK

2

TEST_BUSOFF_RECOVERY

3

TEST_UAVCAN_DNA

4

TEST_TOSHIBA_CAN

5

TEST_KDE_CAN

6

TEST_UAVCAN_ESC

CAN_D2_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units

microseconds

CAN_D2_UC_ Parameters

CAN_D2_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range

1 - 250

CAN_D2_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a servo command over UAVCAN

Bitmask

Bit

Meaning

0

Servo 1

1

Servo 2

2

Servo 3

3

Servo 4

4

Servo 5

5

Servo 6

6

Servo 7

7

Servo 8

8

Servo 9

9

Servo 10

10

Servo 11

11

Servo 12

12

Servo 13

13

Servo 14

14

Servo 15

CAN_D2_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN

Bitmask

Bit

Meaning

0

ESC 1

1

ESC 2

2

ESC 3

3

ESC 4

4

ESC 5

5

ESC 6

6

ESC 7

7

ESC 8

8

ESC 9

9

ESC 10

10

ESC 11

11

ESC 12

12

ESC 13

13

ESC 14

14

ESC 15

15

ESC 16

CAN_D2_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range

Units

1 - 200

hertz

CAN_D2_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask

Bit

Meaning

0

ClearDNADatabase

1

IgnoreDNANodeConflicts

CAN_D2_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range

Units

1 - 200

hertz

CAN_D2_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range

0 - 18

CAN_D2_UC_POOL: CAN pool size

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range

1024 - 16384

CAN_D3_ Parameters

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver

Note: This parameter is for advanced users
Note: Reboot required after change

Enabling this option starts selected protocol that will use this virtual driver

Values

Value

Meaning

0

Disabled

1

DroneCAN

3

ToshibaCAN

4

PiccoloCAN

5

CANTester

6

EFI_NWPMU

7

USD1

8

KDECAN

10

Scripting

11

Benewake

CAN_D3_KDE_ Parameters

CAN_D3_KDE_NPOLE: Number of motor poles

Sets the number of motor poles to calculate the correct RPM value

CAN_D3_PC_ Parameters

CAN_D3_PC_ESC_BM: ESC channels

Note: This parameter is for advanced users

Bitmask defining which ESC (motor) channels are to be transmitted over Piccolo CAN

Bitmask

Bit

Meaning

0

ESC 1

1

ESC 2

2

ESC 3

3

ESC 4

4

ESC 5

5

ESC 6

6

ESC 7

7

ESC 8

8

ESC 9

9

ESC 10

10

ESC 11

11

ESC 12

12

ESC 13

13

ESC 14

14

ESC 15

15

ESC 16

CAN_D3_PC_ESC_RT: ESC output rate

Note: This parameter is for advanced users

Output rate of ESC command messages

Range

Units

1 - 500

hertz

CAN_D3_PC_SRV_BM: Servo channels

Note: This parameter is for advanced users

Bitmask defining which servo channels are to be transmitted over Piccolo CAN

Bitmask

Bit

Meaning

0

Servo 1

1

Servo 2

2

Servo 3

3

Servo 4

4

Servo 5

5

Servo 6

6

Servo 7

7

Servo 8

8

Servo 9

9

Servo 10

10

Servo 11

11

Servo 12

12

Servo 13

13

Servo 14

14

Servo 15

15

Servo 16

CAN_D3_PC_SRV_RT: Servo command output rate

Note: This parameter is for advanced users

Output rate of servo command messages

Range

Units

1 - 500

hertz

CAN_D3_TST_ Parameters

CAN_D3_TST_ID: CAN Test Index

Note: This parameter is for advanced users

Selects the Index of Test that needs to be run recursively, this value gets reset to 0 at boot.

Range

Values

0 - 4

Value

Meaning

0

TEST_NONE

1

TEST_LOOPBACK

2

TEST_BUSOFF_RECOVERY

3

TEST_UAVCAN_DNA

4

TEST_TOSHIBA_CAN

5

TEST_KDE_CAN

6

TEST_UAVCAN_ESC

CAN_D3_TST_LPR8: CANTester LoopRate

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units

microseconds

CAN_D3_UC_ Parameters

CAN_D3_UC_NODE: UAVCAN node that is used for this network

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range

1 - 250

CAN_D3_UC_SRV_BM: Output channels to be transmitted as servo over UAVCAN

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a servo command over UAVCAN

Bitmask

Bit

Meaning

0

Servo 1

1

Servo 2

2

Servo 3

3

Servo 4

4

Servo 5

5

Servo 6

6

Servo 7

7

Servo 8

8

Servo 9

9

Servo 10

10

Servo 11

11

Servo 12

12

Servo 13

13

Servo 14

14

Servo 15

CAN_D3_UC_ESC_BM: Output channels to be transmitted as ESC over UAVCAN

Note: This parameter is for advanced users

Bitmask with one set for channel to be transmitted as a ESC command over UAVCAN

Bitmask

Bit

Meaning

0

ESC 1

1

ESC 2

2

ESC 3

3

ESC 4

4

ESC 5

5

ESC 6

6

ESC 7

7

ESC 8

8

ESC 9

9

ESC 10

10

ESC 11

11

ESC 12

12

ESC 13

13

ESC 14

14

ESC 15

15

ESC 16

CAN_D3_UC_SRV_RT: Servo output rate

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range

Units

1 - 200

hertz

CAN_D3_UC_OPTION: UAVCAN options

Note: This parameter is for advanced users

Option flags

Bitmask

Bit

Meaning

0

ClearDNADatabase

1

IgnoreDNANodeConflicts

CAN_D3_UC_NTF_RT: Notify State rate

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range

Units

1 - 200

hertz

CAN_D3_UC_ESC_OF: ESC Output channels offset

Note: This parameter is for advanced users

Offset for ESC numbering in DroneCAN ESC RawCommand messages. This allows for more efficient packing of ESC command messages. If your ESCs are on servo functions 5 to 8 and you set this parameter to 4 then the ESC RawCommand will be sent with the first 4 slots filled. This can be used for more efficint usage of CAN bandwidth

Range

0 - 18

CAN_D3_UC_POOL: CAN pool size

Note: This parameter is for advanced users

Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads

Range

1024 - 16384

CAN_P1_ Parameters

CAN_P1_DRIVER: Index of virtual driver to be used with physical CAN interface

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value

Meaning

0

Disabled

1

First driver

2

Second driver

3

Third driver

CAN_P1_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range

10000 - 1000000

CAN_P2_ Parameters

CAN_P2_DRIVER: Index of virtual driver to be used with physical CAN interface

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value

Meaning

0

Disabled

1

First driver

2

Second driver

3

Third driver

CAN_P2_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range

10000 - 1000000

CAN_P3_ Parameters

CAN_P3_DRIVER: Index of virtual driver to be used with physical CAN interface

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value

Meaning

0

Disabled

1

First driver

2

Second driver

3

Third driver

CAN_P3_BITRATE: Bitrate of CAN interface

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range

10000 - 1000000

CAN_SLCAN_ Parameters

CAN_SLCAN_CPORT: SLCAN Route

Note: Reboot required after change

CAN Interface ID to be routed to SLCAN, 0 means no routing

Values

Value

Meaning

0

Disabled

1

First interface

2

Second interface

CAN_SLCAN_SERNUM: SLCAN Serial Port

Serial Port ID to be used for temporary SLCAN iface, -1 means no temporary serial. This parameter is automatically reset on reboot or on timeout. See CAN_SLCAN_TIMOUT for timeout details

Values

Value

Meaning

-1

Disabled

0

Serial0

1

Serial1

2

Serial2

3

Serial3

4

Serial4

5

Serial5

6

Serial6

CAN_SLCAN_TIMOUT: SLCAN Timeout

Duration of inactivity after which SLCAN is switched back to original driver in seconds.

Range

0 - 127

CAN_SLCAN_SDELAY: SLCAN Start Delay

Duration after which slcan starts after setting SERNUM in seconds.

Range

0 - 127

COMPASS_ Parameters

COMPASS_OFS_X: Compass offsets in milligauss on the X axis

Note: This parameter is for advanced users

Offset to be added to the compass x-axis values to compensate for metal in the frame

Calibration

Increment

Range

Units

1

1

-400 - 400

milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis

Note: This parameter is for advanced users

Offset to be added to the compass y-axis values to compensate for metal in the frame

Calibration

Increment

Range

Units

1

1

-400 - 400

milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis

Note: This parameter is for advanced users

Offset to be added to the compass z-axis values to compensate for metal in the frame

Increment

Range

Units

1

-400 - 400

milligauss

COMPASS_DEC: Compass declination

An angle to compensate between the true north and magnetic north

Increment

Range

Units

0.01

-3.142 - 3.142

radians

COMPASS_LEARN: Learn compass offsets automatically

Note: This parameter is for advanced users

Enable or disable the automatic learning of compass offsets. You can enable learning either using a compass-only method that is suitable only for fixed wing aircraft or using the offsets learnt by the active EKF state estimator. If this option is enabled then the learnt offsets are saved when you disarm the vehicle. If InFlight learning is enabled then the compass with automatically start learning once a flight starts (must be armed). While InFlight learning is running you cannot use position control modes.

Values

Value

Meaning

0

Disabled

1

Internal-Learning

2

EKF-Learning

3

InFlight-Learning

COMPASS_USE: Use compass for yaw

Note: This parameter is for advanced users

Enable or disable the use of the compass (instead of the GPS) for determining heading

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_AUTODEC: Auto Declination

Note: This parameter is for advanced users

Enable or disable the automatic calculation of the declination based on gps location

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_MOTCT: Motor interference compensation type

Note: This parameter is for advanced users

Set motor interference compensation type to disabled, throttle or current. Do not change manually.

Calibration

Values

1

Value

Meaning

0

Disabled

1

Use Throttle

2

Use Current

COMPASS_MOT_X: Motor interference compensation for body frame X axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Calibration

Increment

Range

Units

1

1

-1000 - 1000

milligauss per ampere

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Calibration

Increment

Range

Units

1

1

-1000 - 1000

milligauss per ampere

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to the compass's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Increment

Range

Units

1

-1000 - 1000

milligauss per ampere

COMPASS_ORIENT: Compass orientation

Note: This parameter is for advanced users

The orientation of the first external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used. The label for each option is specified in the order of rotations for that orientation.

Values

Value

Meaning

0

None

1

Yaw45

2

Yaw90

3

Yaw135

4

Yaw180

5

Yaw225

6

Yaw270

7

Yaw315

8

Roll180

9

Yaw45Roll180

10

Yaw90Roll180

11

Yaw135Roll180

12

Pitch180

13

Yaw225Roll180

14

Yaw270Roll180

15

Yaw315Roll180

16

Roll90

17

Yaw45Roll90

18

Yaw90Roll90

19

Yaw135Roll90

20

Roll270

21

Yaw45Roll270

22

Yaw90Roll270

23

Yaw135Roll270

24

Pitch90

25

Pitch270

26

Yaw90Pitch180

27

Yaw270Pitch180

28

Pitch90Roll90

29

Pitch90Roll180

30

Pitch90Roll270

31

Pitch180Roll90

32

Pitch180Roll270

33

Pitch270Roll90

34

Pitch270Roll180

35

Pitch270Roll270

36

Yaw90Pitch180Roll90

37

Yaw270Roll90

38

Yaw293Pitch68Roll180

39

Pitch315

40

Pitch315Roll90

42

Roll45

43

Roll315

100

Custom

COMPASS_EXTERNAL: Compass is attached via an external cable

Note: This parameter is for advanced users

Configure compass so it is attached externally. This is auto-detected on most boards. Set to 1 if the compass is externally connected. When externally connected the COMPASS_ORIENT option operates independently of the AHRS_ORIENTATION board orientation option. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values

Value

Meaning

0

Internal

1

External

2

ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis

Note: This parameter is for advanced users

Offset to be added to compass2's x-axis values to compensate for metal in the frame

Calibration

Increment

Range

Units

1

1

-400 - 400

milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

Offset to be added to compass2's y-axis values to compensate for metal in the frame

Calibration

Increment

Range

Units

1

1

-400 - 400

milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

Offset to be added to compass2's z-axis values to compensate for metal in the frame

Increment

Range

Units

1

-400 - 400

milligauss

COMPASS_MOT2_X: Motor interference compensation to compass2 for body frame X axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Calibration

Increment

Range

Units

1

1

-1000 - 1000

milligauss per ampere

COMPASS_MOT2_Y: Motor interference compensation to compass2 for body frame Y axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Calibration

Increment

Range

Units

1

1

-1000 - 1000

milligauss per ampere

COMPASS_MOT2_Z: Motor interference compensation to compass2 for body frame Z axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass2's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Increment

Range

Units

1

-1000 - 1000

milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis

Note: This parameter is for advanced users

Offset to be added to compass3's x-axis values to compensate for metal in the frame

Calibration

Increment

Range

Units

1

1

-400 - 400

milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis

Note: This parameter is for advanced users

Offset to be added to compass3's y-axis values to compensate for metal in the frame

Calibration

Increment

Range

Units

1

1

-400 - 400

milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis

Note: This parameter is for advanced users

Offset to be added to compass3's z-axis values to compensate for metal in the frame

Increment

Range

Units

1

-400 - 400

milligauss

COMPASS_MOT3_X: Motor interference compensation to compass3 for body frame X axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's x-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Calibration

Increment

Range

Units

1

1

-1000 - 1000

milligauss per ampere

COMPASS_MOT3_Y: Motor interference compensation to compass3 for body frame Y axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's y-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Calibration

Increment

Range

Units

1

1

-1000 - 1000

milligauss per ampere

COMPASS_MOT3_Z: Motor interference compensation to compass3 for body frame Z axis

Note: This parameter is for advanced users

Multiplied by the current throttle and added to compass3's z-axis values to compensate for motor interference (Offset per Amp or at Full Throttle)

Increment

Range

Units

1

-1000 - 1000

milligauss per ampere

COMPASS_DEV_ID: Compass device id

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_DEV_ID2: Compass2 device id

Note: This parameter is for advanced users

Second compass's device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_DEV_ID3: Compass3 device id

Note: This parameter is for advanced users

Third compass's device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_USE2: Compass2 used for yaw

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_ORIENT2: Compass2 orientation

Note: This parameter is for advanced users

The orientation of a second external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.

Values

Value

Meaning

0

None

1

Yaw45

2

Yaw90

3

Yaw135

4

Yaw180

5

Yaw225

6

Yaw270

7

Yaw315

8

Roll180

9

Roll180Yaw45

10

Roll180Yaw90

11

Roll180Yaw135

12

Pitch180

13

Roll180Yaw225

14

Roll180Yaw270

15

Roll180Yaw315

16

Roll90

17

Roll90Yaw45

18

Roll90Yaw90

19

Roll90Yaw135

20

Roll270

21

Roll270Yaw45

22

Roll270Yaw90

23

Roll270Yaw135

24

Pitch90

25

Pitch270

26

Pitch180Yaw90

27

Pitch180Yaw270

28

Roll90Pitch90

29

Roll180Pitch90

30

Roll270Pitch90

31

Roll90Pitch180

32

Roll270Pitch180

33

Roll90Pitch270

34

Roll180Pitch270

35

Roll270Pitch270

36

Roll90Pitch180Yaw90

37

Roll90Yaw270

38

Yaw293Pitch68Roll180

39

Pitch315

40

Roll90Pitch315

42

Roll45

43

Roll315

100

Custom

COMPASS_EXTERN2: Compass2 is attached via an external cable

Note: This parameter is for advanced users

Configure second compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values

Value

Meaning

0

Internal

1

External

2

ForcedExternal

COMPASS_USE3: Compass3 used for yaw

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_ORIENT3: Compass3 orientation

Note: This parameter is for advanced users

The orientation of a third external compass relative to the vehicle frame. This value will be ignored unless this compass is set as an external compass. When set correctly in the northern hemisphere, pointing the nose and right side down should increase the MagX and MagY values respectively. Rolling the vehicle upside down should decrease the MagZ value. For southern hemisphere, switch increase and decrease. NOTE: For internal compasses, AHRS_ORIENT is used.

Values

Value

Meaning

0

None

1

Yaw45

2

Yaw90

3

Yaw135

4

Yaw180

5

Yaw225

6

Yaw270

7

Yaw315

8

Roll180

9

Roll180Yaw45

10

Roll180Yaw90

11

Roll180Yaw135

12

Pitch180

13

Roll180Yaw225

14

Roll180Yaw270

15

Roll180Yaw315

16

Roll90

17

Roll90Yaw45

18

Roll90Yaw90

19

Roll90Yaw135

20

Roll270

21

Roll270Yaw45

22

Roll270Yaw90

23

Roll270Yaw135

24

Pitch90

25

Pitch270

26

Pitch180Yaw90

27

Pitch180Yaw270

28

Roll90Pitch90

29

Roll180Pitch90

30

Roll270Pitch90

31

Roll90Pitch180

32

Roll270Pitch180

33

Roll90Pitch270

34

Roll180Pitch270

35

Roll270Pitch270

36

Roll90Pitch180Yaw90

37

Roll90Yaw270

38

Yaw293Pitch68Roll180

39

Pitch315

40

Roll90Pitch315

42

Roll45

43

Roll315

100

Custom

COMPASS_EXTERN3: Compass3 is attached via an external cable

Note: This parameter is for advanced users

Configure third compass so it is attached externally. This is auto-detected on most boards. If set to 0 or 1 then auto-detection by bus connection can override the value. If set to 2 then auto-detection will be disabled.

Values

Value

Meaning

0

Internal

1

External

2

ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component

Note: This parameter is for advanced users

DIA_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component

Note: This parameter is for advanced users

DIA_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component

Note: This parameter is for advanced users

DIA_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI_X: Compass soft-iron off-diagonal X component

Note: This parameter is for advanced users

ODI_X in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component

Note: This parameter is for advanced users

ODI_Y in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component

Note: This parameter is for advanced users

ODI_Z in the compass soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component

Note: This parameter is for advanced users

DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component

Note: This parameter is for advanced users

DIA_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component

Note: This parameter is for advanced users

DIA_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component

Note: This parameter is for advanced users

ODI_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

ODI_Y in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component

Note: This parameter is for advanced users

DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component

Note: This parameter is for advanced users

DIA_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component

Note: This parameter is for advanced users

DIA_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component

Note: This parameter is for advanced users

ODI_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component

Note: This parameter is for advanced users

ODI_Y in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

Calibration

1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component

Note: This parameter is for advanced users

ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]

COMPASS_CAL_FIT: Compass calibration fitness

Note: This parameter is for advanced users

This controls the fitness level required for a successful compass calibration. A lower value makes for a stricter fit (less likely to pass). This is the value used for the primary magnetometer. Other magnetometers get double the value.

Increment

Range

Values

0.1

4 - 32

Value

Meaning

4

Very Strict

8

Strict

16

Default

32

Relaxed

COMPASS_OFFS_MAX: Compass maximum offset

Note: This parameter is for advanced users

This sets the maximum allowed compass offset in calibration and arming checks

Increment

Range

1

500 - 3000

COMPASS_TYPEMASK: Compass disable driver type mask

Note: This parameter is for advanced users

This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup

Bitmask

Bit

Meaning

0

HMC5883

1

LSM303D

2

AK8963

3

BMM150

4

LSM9DS1

5

LIS3MDL

6

AK09916

7

IST8310

8

ICM20948

9

MMC3416

11

DroneCAN

12

QMC5883

14

MAG3110

15

IST8308

16

RM3100

17

MSP

18

ExternalAHRS

COMPASS_FLTR_RNG: Range in which sample is accepted

This sets the range around the average value that new samples must be within to be accepted. This can help reduce the impact of noise on sensors that are on long I2C cables. The value is a percentage from the average value. A value of zero disables this filter.

Increment

Range

Units

1

0 - 100

percent

COMPASS_AUTO_ROT: Automatically check orientation

When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.

Values

Value

Meaning

0

Disabled

1

CheckOnly

2

CheckAndFix

3

use same tolerance to auto rotate 45 deg rotations

COMPASS_PRIO1_ID: Compass device id with 1st order priority

Note: This parameter is for advanced users
Note: Reboot required after change

Compass device id with 1st order priority, set automatically if 0. Reboot required after change.

COMPASS_PRIO2_ID: Compass device id with 2nd order priority

Note: This parameter is for advanced users
Note: Reboot required after change

Compass device id with 2nd order priority, set automatically if 0. Reboot required after change.

COMPASS_PRIO3_ID: Compass device id with 3rd order priority

Note: This parameter is for advanced users
Note: Reboot required after change

Compass device id with 3rd order priority, set automatically if 0. Reboot required after change.

COMPASS_ENABLE: Enable Compass

Note: Reboot required after change

Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_SCALE: Compass1 scale factor

Scaling factor for first compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range

0 - 1.3

COMPASS_SCALE2: Compass2 scale factor

Scaling factor for 2nd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range

0 - 1.3

COMPASS_SCALE3: Compass3 scale factor

Scaling factor for 3rd compass to compensate for sensor scaling errors. If this is 0 then no scaling is done

Range

0 - 1.3

COMPASS_OPTIONS: Compass options

Note: This parameter is for advanced users

This sets options to change the behaviour of the compass

Bitmask

Bit

Meaning

0

CalRequireGPS

COMPASS_DEV_ID4: Compass4 device id

Note: This parameter is for advanced users

Extra 4th compass's device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_DEV_ID5: Compass5 device id

Note: This parameter is for advanced users

Extra 5th compass's device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_DEV_ID6: Compass6 device id

Note: This parameter is for advanced users

Extra 6th compass's device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_DEV_ID7: Compass7 device id

Note: This parameter is for advanced users

Extra 7th compass's device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_DEV_ID8: Compass8 device id

Note: This parameter is for advanced users

Extra 8th compass's device id. Automatically detected, do not set manually

ReadOnly

True

COMPASS_CUS_ROLL: Custom orientation roll offset

Note: This parameter is for advanced users
Note: Reboot required after change

Compass mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment

Range

Units

1

-180 - 180

degrees

COMPASS_CUS_PIT: Custom orientation pitch offset

Note: This parameter is for advanced users
Note: Reboot required after change

Compass mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment

Range

Units

1

-180 - 180

degrees

COMPASS_CUS_YAW: Custom orientation yaw offset

Note: This parameter is for advanced users
Note: Reboot required after change

Compass mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when COMPASS_ORIENT/2/3 is set to CUSTOM.

Increment

Range

Units

1

-180 - 180

degrees

COMPASS_PMOT Parameters

COMPASS_PMOT_EN: per-motor compass correction enable

Note: This parameter is for advanced users

This enables per-motor compass corrections

Values

Value

Meaning

0

Disabled

1

Enabled

COMPASS_PMOT_EXP: per-motor exponential correction

Note: This parameter is for advanced users

This is the exponential correction for the power output of the motor for per-motor compass correction

Increment

Range

0.01

0 - 2

COMPASS_PMOT1_X: Compass per-motor1 X

Note: This parameter is for advanced users

Compensation for X axis of motor1

COMPASS_PMOT1_Y: Compass per-motor1 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor1

COMPASS_PMOT1_Z: Compass per-motor1 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor1

COMPASS_PMOT2_X: Compass per-motor2 X

Note: This parameter is for advanced users

Compensation for X axis of motor2

COMPASS_PMOT2_Y: Compass per-motor2 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor2

COMPASS_PMOT2_Z: Compass per-motor2 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor2

COMPASS_PMOT3_X: Compass per-motor3 X

Note: This parameter is for advanced users

Compensation for X axis of motor3

COMPASS_PMOT3_Y: Compass per-motor3 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor3

COMPASS_PMOT3_Z: Compass per-motor3 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor3

COMPASS_PMOT4_X: Compass per-motor4 X

Note: This parameter is for advanced users

Compensation for X axis of motor4

COMPASS_PMOT4_Y: Compass per-motor4 Y

Note: This parameter is for advanced users

Compensation for Y axis of motor4

COMPASS_PMOT4_Z: Compass per-motor4 Z

Note: This parameter is for advanced users

Compensation for Z axis of motor4

EAHRS Parameters

EAHRS_TYPE: AHRS type

Type of AHRS device

Values

Value

Meaning

0

None

1

VectorNav

2

LORD

EAHRS_RATE: AHRS data rate

Requested rate for AHRS device

Units

hertz

EFI Parameters

EFI_TYPE: EFI communication type

Note: This parameter is for advanced users
Note: Reboot required after change

What method of communication is used for EFI #1

Values

Value

Meaning

0

None

1

Serial-MS

2

NWPMU

3

Serial-Lutan

EFI_COEF1: EFI Calibration Coefficient 1

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Slope)

Range

0 - 1

EFI_COEF2: EFI Calibration Coefficient 2

Note: This parameter is for advanced users

Used to calibrate fuel flow for MS protocol (Offset)

Range

0 - 10

EK2_ Parameters

EK2_ENABLE: Enable EKF2

Note: This parameter is for advanced users
Note: Reboot required after change

This enables EKF2. Enabling EKF2 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=2. A reboot or restart will need to be performed after changing the value of EK2_ENABLE for it to take effect.

Values

Value

Meaning

0

Disabled

1

Enabled

EK2_GPS_TYPE: GPS mode control

Note: This parameter is for advanced users

This controls use of GPS measurements : 0 = use 3D velocity & 2D position, 1 = use 2D velocity and 2D position, 2 = use 2D position, 3 = Inhibit GPS use - this can be useful when flying with an optical flow sensor in an environment where GPS quality is poor and subject to large multipath errors.

Values

Value

Meaning

0

GPS 3D Vel and 2D Pos

1

GPS 2D vel and 2D pos

2

GPS 2D pos

3

No GPS

EK2_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

Increment

Range

Units

0.05

0.05 - 5.0

meters per second

EK2_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

Increment

Range

Units

0.05

0.05 - 5.0

meters per second

EK2_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

Increment

Range

Units

0.1

0.1 - 10.0

meters

EK2_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

Increment

Range

Units

5

10 - 100

meters

EK2_ALT_SOURCE: Primary altitude sensor source

Note: This parameter is for advanced users
Note: Reboot required after change

Primary height sensor used by the EKF. If a sensor other than Baro is selected and becomes unavailable, then the Baro sensor will be used as a fallback. NOTE: The EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground in conjunction with EK2_ALT_SOURCE = 0 or 2 (Baro or GPS).

Values

Value

Meaning

0

Use Baro

1

Use Range Finder

2

Use GPS

3

Use Range Beacon

EK2_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

Increment

Range

Units

0.1

0.1 - 10.0

meters

EK2_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users
Note: Reboot required after change

This is the number of msec that the Height measurements lag behind the inertial measurements.

Increment

Range

Units

10

0 - 250

milliseconds

EK2_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

Increment

Range

Units

0.01

0.01 - 0.5

gauss

EK2_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states, when it will use a simpler magnetic heading fusion model that does not use magnetic field states and when it will use an alternative method of yaw determination to the magnetometer. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK2_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK2_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK2_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK2_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK2_MAG_CAL = 4 uses 3-axis fusion at all times. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK2_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 with COMPASS_ENABLE set to 1. If this is done, the EK2_GSF_RUN and EK2_GSF_USE masks must be set to the same as EK2_IMU_MASK.

Values

Value

Meaning

0

When flying

1

When manoeuvring

2

Never

3

After first climb yaw reset

4

Always

EK2_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

Increment

Range

Units

0.1

0.5 - 5.0

meters per second

EK2_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

Increment

Range

Units

0.1

0.1 - 10.0

meters

EK2_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

Increment

Range

Units

0.1

1.0 - 4.0

radians per second

EK2_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

Increment

Range

Units

0.05

0.05 - 1.0

radians per second

EK2_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users
Note: Reboot required after change

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Increment

Range

Units

10

0 - 127

milliseconds

EK2_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

Increment

Range

Units

0.0001

0.0001 - 0.1

radians per second

EK2_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

Increment

Range

Units

0.01

0.01 - 1.0

meters per square second

EK2_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

Range

Units

0.00001 - 0.001

radians per square second

EK2_GSCL_P_NSE: Rate gyro scale factor stability (1/s)

Note: This parameter is for advanced users

This noise controls the rate of gyro scale factor learning. Increasing it makes rate gyro scale factor estimation faster and noisier.

Range

Units

0.000001 - 0.001

hertz

EK2_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

Range

Units

0.00001 - 0.005

meters per cubic second

EK2_WIND_P_NSE: Wind velocity process noise (m/s^2)

Note: This parameter is for advanced users

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

Increment

Range

Units

0.1

0.01 - 1.0

meters per square second

EK2_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

Increment

Range

0.1

0.0 - 1.0

EK2_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

Bitmask

Bit

Meaning

0

NSats

1

HDoP

2

speed error

3

position error

4

yaw error

5

pos drift

6

vert speed

7

horiz speed

EK2_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users
Note: Reboot required after change

1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.

Bitmask

Bit

Meaning

0

FirstIMU

1

SecondIMU

2

ThirdIMU

3

FourthIMU

4

FifthIMU

5

SixthIMU

EK2_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

Range

Units

50 - 200

percent

EK2_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

Range

Units

0.5 - 50.0

meters

EK2_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

Increment

Range

Units

0.05

0.05 - 1.0

radians

EK2_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_TAU_OUTPUT: Output complementary filter time constant (centi-sec)

Note: This parameter is for advanced users

Sets the time constant of the output complementary filter/predictor in centi-seconds.

Increment

Range

Units

5

10 - 50

centiseconds

EK2_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)

Note: This parameter is for advanced users

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

Range

Units

0.00001 - 0.01

gauss per second

EK2_MAGB_P_NSE: Body magnetic field process noise (gauss/s)

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

Range

Units

0.00001 - 0.01

gauss per second

EK2_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). This will not work unless Baro or GPS height is selected as the primary height source vis EK2_ALT_SOURCE = 0 or 2 respectively. This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

Increment

Range

Units

1

-1 - 70

percent

EK2_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

Specifies the maximum gradient of the terrain below the vehicle assumed when it is fusing range finder or optical flow to estimate terrain height.

Increment

Range

0.01

0 - 0.2

EK2_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

Increment

Range

Units

0.1

0.1 - 10.0

meters

EK2_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK2_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users
Note: Reboot required after change

This is the number of msec that the range beacon measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Increment

Range

Units

10

0 - 127

milliseconds

EK2_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

Increment

Range

Units

0.5

2.0 - 6.0

meters per second

EK2_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion

Note: This parameter is for advanced users
Note: Reboot required after change

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

Bitmask

Bit

Meaning

0

FirstEKF

1

SecondEKF

2

ThirdEKF

3

FourthEKF

4

FifthEKF

5

SixthEKF

EK2_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users
Note: Reboot required after change

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

Bitmask

Bit

Meaning

0

Correct when using Baro height

1

Correct when using range finder height

2

Apply corrections to local position

EK2_FLOW_USE: Optical flow use bitmask

Note: This parameter is for advanced users
Note: Reboot required after change

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

Values

Value

Meaning

0

None

1

Navigation

2

Terrain

EK2_MAG_EF_LIM: EarthField error limit

Note: This parameter is for advanced users

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

Range

Units

0 - 500

milligauss

EK2_HRT_FILT: Height rate filter crossover frequency

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

Range

Units

0.1 - 30.0

hertz

EK2_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run

Note: This parameter is for advanced users
Note: Reboot required after change

A bitmask of which EKF2 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF2 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK2_GSF_USE_MASK and EK2_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK2_GSF_USE_MASK to 0.

Bitmask

Bit

Meaning

0

FirstEKF

1

SecondEKF

2

ThirdEKF

3

FourthEKF

4

FifthEKF

5

SixthEKF

EK2_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used

Note: This parameter is for advanced users
Note: Reboot required after change

1 byte bitmap of which EKF2 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK2_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF2 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF2 instance.

Bitmask

Bit

Meaning

0

FirstEKF

1

SecondEKF

2

ThirdEKF

3

FourthEKF

4

FifthEKF

5

SixthEKF

EK2_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed

Note: This parameter is for advanced users
Note: Reboot required after change

Sets the maximum number of times the EKF2 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK2_GSF_USE_MASK parameter.

Increment

Range

1

1 - 10

EK3_ Parameters

EK3_ENABLE: Enable EKF3

Note: This parameter is for advanced users
Note: Reboot required after change

This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.

Values

Value

Meaning

0

Disabled

1

Enabled

EK3_VELNE_M_NSE: GPS horizontal velocity measurement noise (m/s)

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set horizontal velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS horizontal velocity measurements.

Increment

Range

Units

0.05

0.05 - 5.0

meters per second

EK3_VELD_M_NSE: GPS vertical velocity measurement noise (m/s)

Note: This parameter is for advanced users

This sets a lower limit on the speed accuracy reported by the GPS receiver that is used to set vertical velocity observation noise. If the model of receiver used does not provide a speed accurcy estimate, then the parameter value will be used. Increasing it reduces the weighting of the GPS vertical velocity measurements.

Increment

Range

Units

0.05

0.05 - 5.0

meters per second

EK3_VEL_I_GATE: GPS velocity innovation gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_POSNE_M_NSE: GPS horizontal position measurement noise (m)

Note: This parameter is for advanced users

This sets the GPS horizontal position observation noise. Increasing it reduces the weighting of GPS horizontal position measurements.

Increment

Range

Units

0.1

0.1 - 10.0

meters

EK3_POS_I_GATE: GPS position measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_GLITCH_RAD: GPS glitch radius gate size (m)

Note: This parameter is for advanced users

This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position.

Increment

Range

Units

5

10 - 100

meters

EK3_ALT_M_NSE: Altitude measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting of the baro measurement and will make the filter respond more slowly to baro measurement errors, but will make it more sensitive to GPS and accelerometer errors.

Increment

Range

Units

0.1

0.1 - 10.0

meters

EK3_HGT_I_GATE: Height measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_HGT_DELAY: Height measurement delay (msec)

Note: This parameter is for advanced users
Note: Reboot required after change

This is the number of msec that the Height measurements lag behind the inertial measurements.

Increment

Range

Units

10

0 - 250

milliseconds

EK3_MAG_M_NSE: Magnetometer measurement noise (Gauss)

Note: This parameter is for advanced users

This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.

Increment

Range

Units

0.01

0.01 - 0.5

gauss

EK3_MAG_CAL: Magnetometer default fusion mode

Note: This parameter is for advanced users
Note: Reboot required after change

This determines when the filter will use the 3-axis magnetometer fusion model that estimates both earth and body fixed magnetic field states and when it will use a simpler magnetic heading fusion model that does not use magnetic field states. The 3-axis magnetometer fusion is only suitable for use when the external magnetic field environment is stable. EK3_MAG_CAL = 0 uses heading fusion on ground, 3-axis fusion in-flight, and is the default setting for Plane users. EK3_MAG_CAL = 1 uses 3-axis fusion only when manoeuvring. EK3_MAG_CAL = 2 uses heading fusion at all times, is recommended if the external magnetic field is varying and is the default for rovers. EK3_MAG_CAL = 3 uses heading fusion on the ground and 3-axis fusion after the first in-air field and yaw reset has completed, and is the default for copters. EK3_MAG_CAL = 4 uses 3-axis fusion at all times. EK3_MAG_CAL = 5 uses an external yaw sensor with simple heading fusion. NOTE : Use of simple heading magnetometer fusion makes vehicle compass calibration and alignment errors harder for the EKF to detect which reduces the sensitivity of the Copter EKF failsafe algorithm. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. EK3_MAG_CAL = 6 uses an external yaw sensor with fallback to compass when the external sensor is not available if we are flying. NOTE: The fusion mode can be forced to 2 for specific EKF cores using the EK3_MAG_MASK parameter. NOTE: limited operation without a magnetometer or any other yaw sensor is possible by setting all COMPASS_USE, COMPASS_USE2, COMPASS_USE3, etc parameters to 0 and setting COMPASS_ENABLE to 0. If this is done, the EK3_GSF_RUN and EK3_GSF_USE masks must be set to the same as EK3_IMU_MASK. A yaw angle derived from IMU and GPS velocity data using a Gaussian Sum Filter (GSF) will then be used to align the yaw when flight commences and there is sufficient movement.

Values

Value

Meaning

0

When flying

1

When manoeuvring

2

Never

3

After first climb yaw reset

4

Always

5

Use external yaw sensor (Deprecated in 4.1+ see EK3_SRCn_YAW)

6

External yaw sensor with compass fallback (Deprecated in 4.1+ see EK3_SRCn_YAW)

EK3_MAG_I_GATE: Magnetometer measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_EAS_M_NSE: Equivalent airspeed measurement noise (m/s)

Note: This parameter is for advanced users

This is the RMS value of noise in equivalent airspeed measurements used by planes. Increasing it reduces the weighting of airspeed measurements and will make wind speed estimates less noisy and slower to converge. Increasing also increases navigation errors when dead-reckoning without GPS measurements.

Increment

Range

Units

0.1

0.5 - 5.0

meters per second

EK3_EAS_I_GATE: Airspeed measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_RNG_M_NSE: Range finder measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the range finder measurement. Increasing it reduces the weighting on this measurement.

Increment

Range

Units

0.1

0.1 - 10.0

meters

EK3_RNG_I_GATE: Range finder measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range finder innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_MAX_FLOW: Maximum valid optical flow rate

Note: This parameter is for advanced users

This sets the magnitude maximum optical flow rate in rad/sec that will be accepted by the filter

Increment

Range

Units

0.1

1.0 - 4.0

radians per second

EK3_FLOW_M_NSE: Optical flow measurement noise (rad/s)

Note: This parameter is for advanced users

This is the RMS value of noise and errors in optical flow measurements. Increasing it reduces the weighting on these measurements.

Increment

Range

Units

0.05

0.05 - 1.0

radians per second

EK3_FLOW_I_GATE: Optical Flow measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the optical flow innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_FLOW_DELAY: Optical Flow measurement delay (msec)

Note: This parameter is for advanced users
Note: Reboot required after change

This is the number of msec that the optical flow measurements lag behind the inertial measurements. It is the time from the end of the optical flow averaging period and does not include the time delay due to the 100msec of averaging within the flow sensor.

Increment

Range

Units

10

0 - 250

milliseconds

EK3_GYRO_P_NSE: Rate gyro noise (rad/s)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.

Increment

Range

Units

0.0001

0.0001 - 0.1

radians per second

EK3_ACC_P_NSE: Accelerometer noise (m/s^2)

Note: This parameter is for advanced users

This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.

Increment

Range

Units

0.01

0.01 - 1.0

meters per square second

EK3_GBIAS_P_NSE: Rate gyro bias stability (rad/s/s)

Note: This parameter is for advanced users

This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.

Range

Units

0.00001 - 0.001

radians per square second

EK3_ABIAS_P_NSE: Accelerometer bias stability (m/s^3)

Note: This parameter is for advanced users

This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.

Range

Units

0.00001 - 0.005

meters per cubic second

EK3_WIND_P_NSE: Wind velocity process noise (m/s^2)

Note: This parameter is for advanced users

This state process noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.

Increment

Range

Units

0.1

0.01 - 2.0

meters per square second

EK3_WIND_PSCALE: Height rate to wind process noise scaler

Note: This parameter is for advanced users

This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.

Increment

Range

0.1

0.0 - 2.0

EK3_GPS_CHECK: GPS preflight check

Note: This parameter is for advanced users

This is a 1 byte bitmap controlling which GPS preflight checks are performed. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.

Bitmask

Bit

Meaning

0

NSats

1

HDoP

2

speed error

3

position error

4

yaw error

5

pos drift

6

vert speed

7

horiz speed

EK3_IMU_MASK: Bitmask of active IMUs

Note: This parameter is for advanced users
Note: Reboot required after change

1 byte bitmap of IMUs to use in EKF3. A separate instance of EKF3 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF3 will fail to start.

Bitmask

Bit

Meaning

0

FirstIMU

1

SecondIMU

2

ThirdIMU

3

FourthIMU

4

FifthIMU

5

SixthIMU

EK3_CHECK_SCALE: GPS accuracy check scaler (%)

Note: This parameter is for advanced users

This scales the thresholds that are used to check GPS accuracy before it is used by the EKF. A value of 100 is the default. Values greater than 100 increase and values less than 100 reduce the maximum GPS error the EKF will accept. A value of 200 will double the allowable GPS error.

Range

Units

50 - 200

percent

EK3_NOAID_M_NSE: Non-GPS operation position uncertainty (m)

Note: This parameter is for advanced users

This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.

Range

Units

0.5 - 50.0

meters

EK3_BETA_MASK: Bitmask controlling sidelip angle fusion

Note: This parameter is for advanced users
Note: Reboot required after change

1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.

Bitmask

Bit

Meaning

0

Always

1

WhenNoYawSensor

EK3_YAW_M_NSE: Yaw measurement noise (rad)

Note: This parameter is for advanced users

This is the RMS value of noise in yaw measurements from the magnetometer. Increasing it reduces the weighting on these measurements.

Increment

Range

Units

0.05

0.05 - 1.0

radians

EK3_YAW_I_GATE: Yaw measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the magnetometer yaw measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_TAU_OUTPUT: Output complementary filter time constant (centi-sec)

Note: This parameter is for advanced users

Sets the time constant of the output complementary filter/predictor in centi-seconds.

Increment

Range

Units

5

10 - 50

centiseconds

EK3_MAGE_P_NSE: Earth magnetic field process noise (gauss/s)

Note: This parameter is for advanced users

This state process noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field estimation faster and noisier.

Range

Units

0.00001 - 0.01

gauss per second

EK3_MAGB_P_NSE: Body magnetic field process noise (gauss/s)

Note: This parameter is for advanced users

This state process noise controls the growth of body magnetic field state error estimates. Increasing it makes magnetometer bias error estimation faster and noisier.

Range

Units

0.00001 - 0.01

gauss per second

EK3_RNG_USE_HGT: Range finder switch height percentage

Note: This parameter is for advanced users

Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFNDx_MAX_CM) and the primary height source is Baro or GPS (see EK3_SRCx_POSZ). This feature should not be used for terrain following as it is designed for vertical takeoff and landing with climb above the range finder use height before commencing the mission, and with horizontal position changes below that height being limited to a flat region around the takeoff and landing point.

Increment

Range

Units

1

-1 - 70

percent

EK3_TERR_GRAD: Maximum terrain gradient

Note: This parameter is for advanced users

Specifies the maximum gradient of the terrain below the vehicle when it is using range finder as a height reference

Increment

Range

0.01

0 - 0.2

EK3_BCN_M_NSE: Range beacon measurement noise (m)

Note: This parameter is for advanced users

This is the RMS value of noise in the range beacon measurement. Increasing it reduces the weighting on this measurement.

Increment

Range

Units

0.1

0.1 - 10.0

meters

EK3_BCN_I_GTE: Range beacon measurement gate size

Note: This parameter is for advanced users

This sets the percentage number of standard deviations applied to the range beacon measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.

Increment

Range

25

100 - 1000

EK3_BCN_DELAY: Range beacon measurement delay (msec)

Note: This parameter is for advanced users
Note: Reboot required after change

This is the number of msec that the range beacon measurements lag behind the inertial measurements.

Increment

Range

Units

10

0 - 250

milliseconds

EK3_RNG_USE_SPD: Range finder max ground speed

Note: This parameter is for advanced users

The range finder will not be used as the primary height source when the horizontal ground speed is greater than this value.

Increment

Range

Units

0.5

2.0 - 6.0

meters per second

EK3_ACC_BIAS_LIM: Accelerometer bias limit

Note: This parameter is for advanced users

The accelerometer bias state will be limited to +- this value

Increment

Range

Units

0.1

0.5 - 2.5

meters per square second

EK3_MAG_MASK: Bitmask of active EKF cores that will always use heading fusion

Note: This parameter is for advanced users
Note: Reboot required after change

1 byte bitmap of EKF cores that will disable magnetic field states and use simple magnetic heading fusion at all times. This parameter enables specified cores to be used as a backup for flight into an environment with high levels of external magnetic interference which may degrade the EKF attitude estimate when using 3-axis magnetometer fusion. NOTE : Use of a different magnetometer fusion algorithm on different cores makes unwanted EKF core switches due to magnetometer errors more likely.

Bitmask

Bit

Meaning

0

FirstEKF

1

SecondEKF

2

ThirdEKF

3

FourthEKF

4

FifthEKF

5

SixthEKF

EK3_OGN_HGT_MASK: Bitmask control of EKF reference height correction

Note: This parameter is for advanced users
Note: Reboot required after change

When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position or to the reported EKF origin height (default).

Bitmask

Bit

Meaning

0

Correct when using Baro height

1

Correct when using range finder height

2

Apply corrections to local position

EK3_VIS_VERR_MIN: Visual odometry minimum velocity error

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when maximum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

Increment

Range

Units

0.05

0.05 - 0.5

meters per second

EK3_VIS_VERR_MAX: Visual odometry maximum velocity error

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when minimum quality is reported by the sensor. When quality is between max and min, the error will be calculated using linear interpolation between VIS_VERR_MIN and VIS_VERR_MAX.

Increment

Range

Units

0.1

0.5 - 5.0

meters per second

EK3_WENC_VERR: Wheel odometry velocity error

Note: This parameter is for advanced users

This is the 1-STD odometry velocity observation error that will be assumed when wheel encoder data is being fused.

Increment

Range

Units

0.1

0.01 - 1.0

meters per second

EK3_FLOW_USE: Optical flow use bitmask

Note: This parameter is for advanced users
Note: Reboot required after change

Controls if the optical flow data is fused into the 24-state navigation estimator OR the 1-state terrain height estimator.

Values

Value

Meaning

0

None

1

Navigation

2

Terrain

EK3_HRT_FILT: Height rate filter crossover frequency

Specifies the crossover frequency of the complementary filter used to calculate the output predictor height rate derivative.

Range

Units

0.1 - 30.0

hertz

EK3_MAG_EF_LIM: EarthField error limit

Note: This parameter is for advanced users

This limits the difference between the learned earth magnetic field and the earth field from the world magnetic model tables. A value of zero means to disable the use of the WMM tables.

Range

Units

0 - 500

milligauss

EK3_GSF_RUN_MASK: Bitmask of which EKF-GSF yaw estimators run

Note: This parameter is for advanced users
Note: Reboot required after change

1 byte bitmap of which EKF3 instances run an independant EKF-GSF yaw estimator to provide a backup yaw estimate that doesn't rely on magnetometer data. This estimator uses IMU, GPS and, if available, airspeed data. EKF-GSF yaw estimator data for the primary EKF3 instance will be logged as GSF0 and GSF1 messages. Use of the yaw estimate generated by this algorithm is controlled by the EK3_GSF_USE_MASK and EK3_GSF_RST_MAX parameters. To run the EKF-GSF yaw estimator in ride-along and logging only, set EK3_GSF_USE to 0.

Bitmask

Bit

Meaning

0

FirstEKF

1

SecondEKF

2

ThirdEKF

3

FourthEKF

4

FifthEKF

5

SixthEKF

EK3_GSF_USE_MASK: Bitmask of which EKF-GSF yaw estimators are used

Note: This parameter is for advanced users
Note: Reboot required after change

A bitmask of which EKF3 instances will use the output from the EKF-GSF yaw estimator that has been turned on by the EK3_GSF_RUN_MASK parameter. If the inertial navigation calculation stops following the GPS, then the vehicle code can request EKF3 to attempt to resolve the issue, either by performing a yaw reset if enabled by this parameter by switching to another EKF3 instance.

Bitmask

Bit

Meaning

0

FirstEKF

1

SecondEKF

2

ThirdEKF

3

FourthEKF

4

FifthEKF

5

SixthEKF

EK3_GSF_RST_MAX: Maximum number of resets to the EKF-GSF yaw estimate allowed

Note: This parameter is for advanced users
Note: Reboot required after change

Sets the maximum number of times the EKF3 will be allowed to reset its yaw to the estimate from the EKF-GSF yaw estimator. No resets will be allowed unless the use of the EKF-GSF yaw estimate is enabled via the EK3_GSF_USE_MASK parameter.

Increment

Range

1

1 - 10

EK3_ERR_THRESH: EKF3 Lane Relative Error Sensitivity Threshold

Note: This parameter is for advanced users

lanes have to be consistently better than the primary by at least this threshold to reduce their overall relativeCoreError, lowering this makes lane switching more sensitive to smaller error differences

Increment

Range

0.05

0.05 - 1

EK3_AFFINITY: EKF3 Sensor Affinity Options

Note: This parameter is for advanced users
Note: Reboot required after change

These options control the affinity between sensor instances and EKF cores

Bitmask

Bit

Meaning

0

EnableGPSAffinity

1

EnableBaroAffinity

2

EnableCompassAffinity

3

EnableAirspeedAffinity

EK3_DRAG_BCOEF_X: Ballistic coefficient for X axis drag

Note: This parameter is for advanced users

Ratio of mass to drag coefficient measured along the X body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the frontal area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.

Range

Units

0.0 - 1000.0

kilograms per square meter

EK3_DRAG_BCOEF_Y: Ballistic coefficient for Y axis drag

Note: This parameter is for advanced users

Ratio of mass to drag coefficient measured along the Y body axis. This parameter enables estimation of wind drift for vehicles with bluff bodies and without propulsion forces in the X and Y direction (eg multicopters). The drag produced by this effect scales with speed squared. Set to a postive value > 1.0 to enable. A starting value is the mass in Kg divided by the side area. The predicted drag from the rotors is specified separately by the EK3_MCOEF parameter.

Range

Units

50.0 - 1000.0

kilograms per square meter

EK3_DRAG_M_NSE: Observation noise for drag acceleration

Note: This parameter is for advanced users

This sets the amount of noise used when fusing X and Y acceleration as an observation that enables esitmation of wind velocity for multi-rotor vehicles. This feature is enabled by the EK3_BCOEF_X and EK3_BCOEF_Y parameters

Increment

Range

Units

0.1

0.1 - 2.0

meters per square second

EK3_DRAG_MCOEF: Momentum coefficient for propeller drag

Note: This parameter is for advanced users

This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.

Increment

Range

Units

0.01

0.0 - 1.0

per second

EK3_OGNM_TEST_SF: On ground not moving test scale factor

Note: This parameter is for advanced users

This parameter is adjust the sensitivity of the on ground not moving test which is used to assist with learning the yaw gyro bias and stopping yaw drift before flight when operating without a yaw sensor. Bigger values allow the detection of a not moving condition with noiser IMU data. Check the XKFM data logged when the vehicle is on ground not moving and adjust the value of OGNM_TEST_SF to be slightly higher than the maximum value of the XKFM.ADR, XKFM.ALR, XKFM.GDR and XKFM.GLR test levels.

Increment

Range

0.5

1.0 - 10.0

EK3_GND_EFF_DZ: Baro height ground effect dead zone

Note: This parameter is for advanced users

This parameter sets the size of the dead zone that is applied to negative baro height spikes that can occur when takeing off or landing when a vehicle with lift rotors is operating in ground effect ground effect. Set to about 0.5m less than the amount of negative offset in baro height that occurs just prior to takeoff when lift motors are spooling up. Set to 0 if no ground effect is present.

Increment

Range

0.5

0.0 - 10.0

EK3_PRIMARY: Primary core number

Note: This parameter is for advanced users

The core number (index in IMU mask) that will be used as the primary EKF core on startup. While disarmed the EKF will force the use of this core. A value of 0 corresponds to the first IMU in EK3_IMU_MASK.

Increment

Range

1

0 - 2

EK3_SRC Parameters

EK3_SRC1_POSXY: Position Horizontal Source (Primary)

Note: This parameter is for advanced users

Position Horizontal Source (Primary)

Values

Value

Meaning

0

None

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC1_VELXY: Velocity Horizontal Source

Note: This parameter is for advanced users

Velocity Horizontal Source

Values

Value

Meaning

0

None

3

GPS

4

Beacon

5

OpticalFlow

6

ExternalNav

7

WheelEncoder

EK3_SRC1_POSZ: Position Vertical Source

Note: This parameter is for advanced users

Position Vertical Source

Values

Value

Meaning

0

None

1

Baro

2

RangeFinder

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC1_VELZ: Velocity Vertical Source

Note: This parameter is for advanced users

Velocity Vertical Source

Values

Value

Meaning

0

None

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC1_YAW: Yaw Source

Note: This parameter is for advanced users

Yaw Source

Values

Value

Meaning

0

None

1

Compass

2

GPS

3

GPS with Compass Fallback

6

ExternalNav

8

GSF

EK3_SRC2_POSXY: Position Horizontal Source (Secondary)

Note: This parameter is for advanced users

Position Horizontal Source (Secondary)

Values

Value

Meaning

0

None

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC2_VELXY: Velocity Horizontal Source (Secondary)

Note: This parameter is for advanced users

Velocity Horizontal Source (Secondary)

Values

Value

Meaning

0

None

3

GPS

4

Beacon

5

OpticalFlow

6

ExternalNav

7

WheelEncoder

EK3_SRC2_POSZ: Position Vertical Source (Secondary)

Note: This parameter is for advanced users

Position Vertical Source (Secondary)

Values

Value

Meaning

0

None

1

Baro

2

RangeFinder

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC2_VELZ: Velocity Vertical Source (Secondary)

Note: This parameter is for advanced users

Velocity Vertical Source (Secondary)

Values

Value

Meaning

0

None

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC2_YAW: Yaw Source (Secondary)

Note: This parameter is for advanced users

Yaw Source (Secondary)

Values

Value

Meaning

0

None

1

Compass

2

GPS

3

GPS with Compass Fallback

6

ExternalNav

8

GSF

EK3_SRC3_POSXY: Position Horizontal Source (Tertiary)

Note: This parameter is for advanced users

Position Horizontal Source (Tertiary)

Values

Value

Meaning

0

None

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC3_VELXY: Velocity Horizontal Source (Tertiary)

Note: This parameter is for advanced users

Velocity Horizontal Source (Tertiary)

Values

Value

Meaning

0

None

3

GPS

4

Beacon

5

OpticalFlow

6

ExternalNav

7

WheelEncoder

EK3_SRC3_POSZ: Position Vertical Source (Tertiary)

Note: This parameter is for advanced users

Position Vertical Source (Tertiary)

Values

Value

Meaning

0

None

1

Baro

2

RangeFinder

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC3_VELZ: Velocity Vertical Source (Tertiary)

Note: This parameter is for advanced users

Velocity Vertical Source (Tertiary)

Values

Value

Meaning

0

None

3

GPS

4

Beacon

6

ExternalNav

EK3_SRC3_YAW: Yaw Source (Tertiary)

Note: This parameter is for advanced users

Yaw Source (Tertiary)

Values

Value

Meaning

0

None

1

Compass

2

GPS

3

GPS with Compass Fallback

6

ExternalNav

8

GSF

EK3_SRC_OPTIONS: EKF Source Options

Note: This parameter is for advanced users

EKF Source Options

Bitmask

Bit

Meaning

0

FuseAllVelocities

FENCE_ Parameters

FENCE_ENABLE: Fence enable/disable

Allows you to enable (1) or disable (0) the fence functionality

Values

Value

Meaning

0

Disabled

1

Enabled

FENCE_TYPE: Fence Type

Enabled fence types held as bitmask

Bitmask

Bit

Meaning

1

Circle

2

Polygon

FENCE_ACTION: Fence Action

What action should be taken when fence is breached

Values

Value

Meaning

0

Report Only

1

RTL or Hold

2

Hold

3

SmartRTL or RTL or Hold

4

SmartRTL or Hold

FENCE_RADIUS: Circular Fence Radius

Circle fence radius which when breached will cause an RTL

Range

Units

30 - 10000

meters

FENCE_MARGIN: Fence Margin

Distance that autopilot's should maintain from the fence to avoid a breach

Range

Units

1 - 10

meters

FENCE_TOTAL: Fence polygon point total

Number of polygon points saved in eeprom (do not update manually)

Range

1 - 20

FFT_ Parameters

FFT_ENABLE: Enable

Note: This parameter is for advanced users
Note: Reboot required after change

Enable Gyro FFT analyser

Values

Value

Meaning

0

Disabled

1

Enabled

FFT_MINHZ: Minimum Frequency

Note: This parameter is for advanced users

Lower bound of FFT frequency detection in Hz. On larger vehicles the minimum motor frequency is likely to be significantly lower than for smaller vehicles.

Range

Units

20 - 400

hertz

FFT_MAXHZ: Maximum Frequency

Note: This parameter is for advanced users

Upper bound of FFT frequency detection in Hz. On smaller vehicles the maximum motor frequency is likely to be significantly higher than for larger vehicles.

Range

Units

20 - 495

hertz

FFT_SAMPLE_MODE: Sample Mode

Note: This parameter is for advanced users
Note: Reboot required after change

Sampling mode (and therefore rate). 0: Gyro rate sampling, 1: Fast loop rate sampling, 2: Fast loop rate / 2 sampling, 3: Fast loop rate / 3 sampling. Takes effect on reboot.

Range

0 - 4

FFT_WINDOW_SIZE: FFT window size

Note: This parameter is for advanced users
Note: Reboot required after change

Size of window to be used in FFT calculations. Takes effect on reboot. Must be a power of 2 and between 32 and 512. Larger windows give greater frequency resolution but poorer time resolution, consume more CPU time and may not be appropriate for all vehicles. Time and frequency resolution are given by the sample-rate / window-size. Windows of 256 are only really recommended for F7 class boards, windows of 512 or more H7 class.

Range

32 - 1024

FFT_WINDOW_OLAP: FFT window overlap

Note: This parameter is for advanced users
Note: Reboot required after change

Percentage of window to be overlapped before another frame is process. Takes effect on reboot. A good default is 50% overlap. Higher overlap results in more processed frames but not necessarily more temporal resolution. Lower overlap results in lost information at the frame edges.

Range

0 - 0.9

FFT_FREQ_HOVER: FFT learned hover frequency

Note: This parameter is for advanced users

The learned hover noise frequency

Range

0 - 250

FFT_THR_REF: FFT learned thrust reference

Note: This parameter is for advanced users

FFT learned thrust reference for the hover frequency and FFT minimum frequency.

Range

0.01 - 0.9

FFT_SNR_REF: FFT SNR reference threshold

Note: This parameter is for advanced users

FFT SNR reference threshold in dB at which a signal is determined to be present.

Range

0.0 - 100.0

FFT_ATT_REF: FFT attenuation for bandwidth calculation

Note: This parameter is for advanced users

FFT attenuation level in dB for bandwidth calculation and peak detection. The bandwidth is calculated by comparing peak power output with the attenuated version. The default of 15 has shown to be a good compromise in both simulations and real flight.

Range

0 - 100

FFT_BW_HOVER: FFT learned bandwidth at hover

Note: This parameter is for advanced users

FFT learned bandwidth at hover for the attenuation frequencies.

Range

0 - 200

FFT_HMNC_FIT: FFT harmonic fit frequency threshold

Note: This parameter is for advanced users
Note: Reboot required after change

FFT harmonic fit frequency threshold percentage at which a signal of the appropriate frequency is determined to be the harmonic of another. Signals that have a harmonic relationship that varies at most by this percentage are considered harmonics of each other for the purpose of selecting the harmonic notch frequency. If a match is found then the lower frequency harmonic is always used as the basis for the dynamic harmonic notch. A value of zero completely disables harmonic matching.

Range

0 - 100

FFT_HMNC_PEAK: FFT harmonic peak target

Note: This parameter is for advanced users

The FFT harmonic peak target that should be returned by FTN1.PkAvg. The resulting value will be used by the harmonic notch if configured to track the FFT frequency. By default the appropriate peak is auto-detected based on the harmonic fit between peaks and the energy-weighted average frequency on roll on pitch is used. Setting this to 1 will always target the highest energy peak. Setting this to 2 will target the highest energy peak that is lower in frequency than the highest energy peak. Setting this to 3 will target the highest energy peak that is higher in frequency than the highest energy peak. Setting this to 4 will target the highest energy peak on the roll axis only and only the roll frequency will be used (some vehicles have a much more pronounced peak on roll). Setting this to 5 will target the highest energy peak on the pitch axis only and only the pitch frequency will be used (some vehicles have a much more pronounced peak on roll).

Values

Value

Meaning

0

Auto

1

Center Frequency

2

Lower-Shoulder Frequency

3

Upper-Shoulder Frequency

4

Roll-Axis

5

Pitch-Axis

FOLL Parameters

FOLL_ENABLE: Follow enable/disable

Enabled/disable following a target

Values

Value

Meaning

0

Disabled

1

Enabled

FOLL_DIST_MAX: Follow distance maximum

Follow distance maximum. targets further than this will be ignored

Range

Units

1 - 1000

meters

FOLL_OFS_TYPE: Follow offset type

Follow offset type

Values

Value

Meaning

0

North-East-Down

1

Relative to lead vehicle heading

FOLL_OFS_X: Follow offsets in meters north/forward

Follow offsets in meters north/forward. If positive, this vehicle fly ahead or north of lead vehicle. Depends on FOLL_OFS_TYPE

Increment

Range

Units

1

-100 - 100

meters

FOLL_OFS_Y: Follow offsets in meters east/right

Follow offsets in meters east/right. If positive, this vehicle will fly to the right or east of lead vehicle. Depends on FOLL_OFS_TYPE

Increment

Range

Units

1

-100 - 100

meters

FOLL_OFS_Z: Follow offsets in meters down

Follow offsets in meters down. If positive, this vehicle will fly below the lead vehicle

Increment

Range

Units

1

-100 - 100

meters

FOLL_YAW_BEHAVE: Follow yaw behaviour

Follow yaw behaviour

Values

Value

Meaning

0

None

1

Face Lead Vehicle

2

Same as Lead vehicle

3

Direction of Flight

FOLL_POS_P: Follow position error P gain

Follow position error P gain. Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller

Increment

Range

0.01

0.01 - 1.00

FOLL_ALT_TYPE: Follow altitude type

Follow altitude type

Values

Value

Meaning

0

absolute

1

relative

FRSKY_ Parameters

FRSKY_OPTIONS: FRSky Telemetry Options

A bitmask to set some FRSky Telemetry specific options

Bitmask

Bit

Meaning

0

EnableAirspeedAndGroundspeed

GEN_ Parameters

GEN_TYPE: Generator type

Note: Reboot required after change

Generator type

Values

Value

Meaning

0

Disabled

1

IE 650w 800w Fuel Cell

2

IE 2.4kW Fuel Cell

3

Richenpower

GPS Parameters

GPS_TYPE: 1st GPS type

Note: This parameter is for advanced users
Note: Reboot required after change

GPS type of 1st GPS

Values

Value

Meaning

0

None

1

AUTO

2

uBlox

5

NMEA

6

SiRF

7

HIL

8

SwiftNav

9

DroneCAN

10

SBF

11

GSOF

13

ERB

14

MAV

15

NOVA

16

HemisphereNMEA

17

uBlox-MovingBaseline-Base

18

uBlox-MovingBaseline-Rover

19

MSP

20

AllyStar

21

ExternalAHRS

22

DroneCAN-MovingBaseline-Base

23

DroneCAN-MovingBaseline-Rover

GPS_TYPE2: 2nd GPS type

Note: This parameter is for advanced users
Note: Reboot required after change

GPS type of 2nd GPS

Values

Value

Meaning

0

None

1

AUTO

2

uBlox

5

NMEA

6

SiRF

7

HIL

8

SwiftNav

9

DroneCAN

10

SBF

11

GSOF

13

ERB

14

MAV

15

NOVA

16

HemisphereNMEA

17

uBlox-MovingBaseline-Base

18

uBlox-MovingBaseline-Rover

19

MSP

20

AllyStar

21

ExternalAHRS

22

DroneCAN-MovingBaseline-Base

23

DroneCAN-MovingBaseline-Rover

GPS_NAVFILTER: Navigation filter setting

Note: This parameter is for advanced users

Navigation filter engine setting

Values

Value

Meaning

0

Portable

2

Stationary

3

Pedestrian

4

Automotive

5

Sea

6

Airborne1G

7

Airborne2G

8

Airborne4G

GPS_AUTO_SWITCH: Automatic Switchover Setting

Note: This parameter is for advanced users

Automatic switchover to GPS reporting best lock, 1:UseBest selects the GPS with highest status, if both are equal the GPS with highest satellite count is used 4:Use primary if 3D fix or better, will revert to 'UseBest' behaviour if 3D fix is lost on primary

Values

Value

Meaning

0

Use primary

1

UseBest

2

Blend

4

Use primary if 3D fix or better

GPS_MIN_DGPS: Minimum Lock Type Accepted for DGPS

Note: This parameter is for advanced users
Note: Reboot required after change

Sets the minimum type of differential GPS corrections required before allowing to switch into DGPS mode.

Values

Value

Meaning

0

Any

50

FloatRTK

100

IntegerRTK

GPS_SBAS_MODE: SBAS Mode

Note: This parameter is for advanced users

This sets the SBAS (satellite based augmentation system) mode if available on this GPS. If set to 2 then the SBAS mode is not changed in the GPS. Otherwise the GPS will be reconfigured to enable/disable SBAS. Disabling SBAS may be worthwhile in some parts of the world where an SBAS signal is available but the baseline is too long to be useful.

Values

Value

Meaning

0

Disabled

1

Enabled

2

NoChange

GPS_MIN_ELEV: Minimum elevation

Note: This parameter is for advanced users

This sets the minimum elevation of satellites above the horizon for them to be used for navigation. Setting this to -100 leaves the minimum elevation set to the GPS modules default.

Range

Units

-100 - 90

degrees

GPS_SBP_LOGMASK: Swift Binary Protocol Logging Mask

Note: This parameter is for advanced users

Masked with the SBP msg_type field to determine whether SBR1/SBR2 data is logged

Values

Value

Meaning

0

None (0x0000)

-1

All (0xFFFF)

-256

External only (0xFF00)

GPS_RAW_DATA: Raw data logging

Note: This parameter is for advanced users
Note: Reboot required after change

Handles logging raw data; on uBlox chips that support raw data this will log RXM messages into logger; on Septentrio this will log on the equipment's SD card and when set to 2, the autopilot will try to stop logging after disarming and restart after arming

Values

Value

Meaning

0

Ignore

1

Always log

2

Stop logging when disarmed (SBF only)

5

Only log every five samples (uBlox only)

GPS_GNSS_MODE: GNSS system configuration

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the first GPS (all unchecked or zero to leave GPS as configured)

Bitmask

Bit

Meaning

0

GPS

1

SBAS

2

Galileo

3

Beidou

4

IMES

5

QZSS

6

GLONASS

GPS_SAVE_CFG: Save GPS configuration

Note: This parameter is for advanced users

Determines whether the configuration for this GPS should be written to non-volatile memory on the GPS. Currently working for UBlox 6 series and above.

Values

Value

Meaning

0

Do not save config

1

Save config

2

Save only when needed

GPS_GNSS_MODE2: GNSS system configuration

Note: This parameter is for advanced users

Bitmask for what GNSS system to use on the second GPS (all unchecked or zero to leave GPS as configured)

Bitmask

Bit

Meaning

0

GPS

1

SBAS

2

Galileo

3

Beidou

4

IMES

5

QZSS

6

GLONASS

GPS_AUTO_CONFIG: Automatic GPS configuration

Note: This parameter is for advanced users

Controls if the autopilot should automatically configure the GPS based on the parameters and default settings

Values

Value

Meaning

0

Disables automatic configuration

1

Enable automatic configuration for Serial GPSes only

2

Enable automatic configuration for DroneCAN as well

GPS_RATE_MS: GPS update rate in milliseconds

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

Range

Units

Values

50 - 200

milliseconds

Value

Meaning

100

10Hz

125

8Hz

200

5Hz

GPS_RATE_MS2: GPS 2 update rate in milliseconds

Note: This parameter is for advanced users

Controls how often the GPS should provide a position update. Lowering below 5Hz(default) is not allowed. Raising the rate above 5Hz usually provides little benefit and for some GPS (eg Ublox M9N) can severely impact performance.

Range

Units

Values

50 - 200

milliseconds

Value

Meaning

100

10Hz

125

8Hz

200

5Hz

GPS_POS1_X: Antenna X position offset

Note: This parameter is for advanced users

X position of the first GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_POS1_Y: Antenna Y position offset

Note: This parameter is for advanced users

Y position of the first GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_POS1_Z: Antenna Z position offset

Note: This parameter is for advanced users

Z position of the first GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_POS2_X: Antenna X position offset

Note: This parameter is for advanced users

X position of the second GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_POS2_Y: Antenna Y position offset

Note: This parameter is for advanced users

Y position of the second GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_POS2_Z: Antenna Z position offset

Note: This parameter is for advanced users

Z position of the second GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_DELAY_MS: GPS delay in milliseconds

Note: This parameter is for advanced users
Note: Reboot required after change

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

Range

Units

0 - 250

milliseconds

GPS_DELAY_MS2: GPS 2 delay in milliseconds

Note: This parameter is for advanced users
Note: Reboot required after change

Controls the amount of GPS measurement delay that the autopilot compensates for. Set to zero to use the default delay for the detected GPS type.

Range

Units

0 - 250

milliseconds

GPS_BLEND_MASK: Multi GPS Blending Mask

Note: This parameter is for advanced users

Determines which of the accuracy measures Horizontal position, Vertical Position and Speed are used to calculate the weighting on each GPS receiver when soft switching has been selected by setting GPS_AUTO_SWITCH to 2(Blend)

Bitmask

Bit

Meaning

0

Horiz Pos

1

Vert Pos

2

Speed

GPS_BLEND_TC: Blending time constant

Note: This parameter is for advanced users

Controls the slowest time constant applied to the calculation of GPS position and height offsets used to adjust different GPS receivers for steady state position differences.

Range

Units

5.0 - 30.0

seconds

GPS_DRV_OPTIONS: driver options

Note: This parameter is for advanced users

Additional backend specific options

Bitmask

Bit

Meaning

0

Use UART2 for moving baseline on ublox

1

Use base station for GPS yaw on SBF

2

Use baudrate 115200

3

Use dedicated CAN port b/w GPSes for moving baseline

GPS_COM_PORT: GPS physical COM port

Note: This parameter is for advanced users
Note: Reboot required after change

The physical COM port on the connected device, currently only applies to SBF GPS

Increment

Range

1

0 - 10

GPS_COM_PORT2: GPS physical COM port

Note: This parameter is for advanced users
Note: Reboot required after change

The physical COM port on the connected device, currently only applies to SBF GPS

Increment

Range

1

0 - 10

GPS_PRIMARY: Primary GPS

Note: This parameter is for advanced users

This GPS will be used when GPS_AUTO_SWITCH is 0 and used preferentially with GPS_AUTO_SWITCH = 4.

Increment

Values

1

Value

Meaning

0

FirstGPS

1

SecondGPS

GPS_CAN_NODEID1: GPS Node ID 1

Note: This parameter is for advanced users

GPS Node id for discovered first.

ReadOnly

True

GPS_CAN_NODEID2: GPS Node ID 2

Note: This parameter is for advanced users

GPS Node id for discovered second.

ReadOnly

True

GPS1_CAN_OVRIDE: First DroneCAN GPS NODE ID

Note: This parameter is for advanced users

GPS Node id for first GPS. If 0 the gps will be automatically selected on first come basis.

GPS2_CAN_OVRIDE: Second DroneCAN GPS NODE ID

Note: This parameter is for advanced users

GPS Node id for second GPS. If 0 the gps will be automatically selected on first come basis.

GPS_MB1_ Parameters

GPS_MB1_TYPE: Moving base type

Note: This parameter is for advanced users
Note: Reboot required after change

Controls the type of moving base used if using moving base.

Values

Value

Meaning

0

Relative to alternate GPS instance

1

RelativeToCustomBase

GPS_MB1_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_MB1_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_MB1_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_MB2_ Parameters

GPS_MB2_TYPE: Moving base type

Note: This parameter is for advanced users
Note: Reboot required after change

Controls the type of moving base used if using moving base.

Values

Value

Meaning

0

Relative to alternate GPS instance

1

RelativeToCustomBase

GPS_MB2_OFS_X: Base antenna X position offset

Note: This parameter is for advanced users

X position of the base GPS antenna in body frame. Positive X is forward of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_MB2_OFS_Y: Base antenna Y position offset

Note: This parameter is for advanced users

Y position of the base GPS antenna in body frame. Positive Y is to the right of the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GPS_MB2_OFS_Z: Base antenna Z position offset

Note: This parameter is for advanced users

Z position of the base GPS antenna in body frame. Positive Z is down from the origin. Use antenna phase centroid location if provided by the manufacturer.

Increment

Range

Units

0.01

-5 - 5

meters

GRIP_ Parameters

GRIP_ENABLE: Gripper Enable/Disable

Gripper enable/disable

Values

Value

Meaning

0

Disabled

1

Enabled

GRIP_TYPE: Gripper Type

Gripper enable/disable

Values

Value

Meaning

0

None

1

Servo

2

EPM

GRIP_GRAB: Gripper Grab PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to initiate grabbing the cargo

Range

Units

1000 - 2000

PWM in microseconds

GRIP_RELEASE: Gripper Release PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to Gripper to release the cargo

Range

Units

1000 - 2000

PWM in microseconds

GRIP_NEUTRAL: Neutral PWM

Note: This parameter is for advanced users

PWM value in microseconds sent to grabber when not grabbing or releasing

Range

Units

1000 - 2000

PWM in microseconds

GRIP_REGRAB: Gripper Regrab interval

Note: This parameter is for advanced users

Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable

Range

Units

0 - 255

seconds

GRIP_CAN_ID: EPM UAVCAN Hardpoint ID

Refer to https://docs.zubax.com/opengrab_epm_v3#UAVCAN_interface

Range

0 - 255

INS_ Parameters

INS_GYROFFS_X: Gyro offsets of X axis

Note: This parameter is for advanced users

Gyro sensor offsets of X axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_GYROFFS_Y: Gyro offsets of Y axis

Note: This parameter is for advanced users

Gyro sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_GYROFFS_Z: Gyro offsets of Z axis

Note: This parameter is for advanced users

Gyro sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_GYR2OFFS_X: Gyro2 offsets of X axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_GYR2OFFS_Y: Gyro2 offsets of Y axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_GYR2OFFS_Z: Gyro2 offsets of Z axis

Note: This parameter is for advanced users

Gyro2 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_GYR3OFFS_X: Gyro3 offsets of X axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of X axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_GYR3OFFS_Y: Gyro3 offsets of Y axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Y axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_GYR3OFFS_Z: Gyro3 offsets of Z axis

Note: This parameter is for advanced users

Gyro3 sensor offsets of Z axis. This is setup on each boot during gyro calibrations

Calibration

Units

1

radians per second

INS_ACCSCAL_X: Accelerometer scaling of X axis

Note: This parameter is for advanced users

Accelerometer scaling of X axis. Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACCSCAL_Y: Accelerometer scaling of Y axis

Note: This parameter is for advanced users

Accelerometer scaling of Y axis Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACCSCAL_Z: Accelerometer scaling of Z axis

Note: This parameter is for advanced users

Accelerometer scaling of Z axis Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACCOFFS_X: Accelerometer offsets of X axis

Note: This parameter is for advanced users

Accelerometer offsets of X axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_ACCOFFS_Y: Accelerometer offsets of Y axis

Note: This parameter is for advanced users

Accelerometer offsets of Y axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_ACCOFFS_Z: Accelerometer offsets of Z axis

Note: This parameter is for advanced users

Accelerometer offsets of Z axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_ACC2SCAL_X: Accelerometer2 scaling of X axis

Note: This parameter is for advanced users

Accelerometer2 scaling of X axis. Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACC2SCAL_Y: Accelerometer2 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Y axis Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACC2SCAL_Z: Accelerometer2 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer2 scaling of Z axis Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACC2OFFS_X: Accelerometer2 offsets of X axis

Note: This parameter is for advanced users

Accelerometer2 offsets of X axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_ACC2OFFS_Y: Accelerometer2 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Y axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_ACC2OFFS_Z: Accelerometer2 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer2 offsets of Z axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_ACC3SCAL_X: Accelerometer3 scaling of X axis

Note: This parameter is for advanced users

Accelerometer3 scaling of X axis. Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACC3SCAL_Y: Accelerometer3 scaling of Y axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Y axis Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACC3SCAL_Z: Accelerometer3 scaling of Z axis

Note: This parameter is for advanced users

Accelerometer3 scaling of Z axis Calculated during acceleration calibration routine

Calibration

Range

1

0.8 - 1.2

INS_ACC3OFFS_X: Accelerometer3 offsets of X axis

Note: This parameter is for advanced users

Accelerometer3 offsets of X axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_ACC3OFFS_Y: Accelerometer3 offsets of Y axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Y axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_ACC3OFFS_Z: Accelerometer3 offsets of Z axis

Note: This parameter is for advanced users

Accelerometer3 offsets of Z axis. This is setup using the acceleration calibration or level operations

Calibration

Range

Units

1

-3.5 - 3.5

meters per square second

INS_GYRO_FILTER: Gyro filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for gyroscopes. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Range

Units

0 - 256

hertz

INS_ACCEL_FILTER: Accel filter cutoff frequency

Note: This parameter is for advanced users

Filter cutoff frequency for accelerometers. This can be set to a lower value to try to cope with very high vibration levels in aircraft. A value of zero means no filtering (not recommended!)

Range

Units

0 - 256

hertz

INS_USE: Use first IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use first IMU for attitude, velocity and position estimates

Values

Value

Meaning

0

Disabled

1

Enabled

INS_USE2: Use second IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use second IMU for attitude, velocity and position estimates

Values

Value

Meaning

0

Disabled

1

Enabled

INS_USE3: Use third IMU for attitude, velocity and position estimates

Note: This parameter is for advanced users

Use third IMU for attitude, velocity and position estimates

Values

Value

Meaning

0

Disabled

1

Enabled

INS_STILL_THRESH: Stillness threshold for detecting if we are moving

Note: This parameter is for advanced users

Threshold to tolerate vibration to determine if vehicle is motionless. This depends on the frame type and if there is a constant vibration due to motors before launch or after landing. Total motionless is about 0.05. Suggested values: Planes/rover use 0.1, multirotors use 1, tradHeli uses 5

Range

0.05 - 50

INS_GYR_CAL: Gyro Calibration scheme

Note: This parameter is for advanced users

Conrols when automatic gyro calibration is performed

Values

Value

Meaning

0

Never

1

Start-up only

INS_TRIM_OPTION: Accel cal trim option

Note: This parameter is for advanced users

Specifies how the accel cal routine determines the trims

Values

Value

Meaning

0

Don’t adjust the trims

1

Assume first orientation was level

2

Assume ACC_BODYFIX is perfectly aligned to the vehicle

INS_ACC_BODYFIX: Body-fixed accelerometer

Note: This parameter is for advanced users

The body-fixed accelerometer to be used for trim calculation

Values

Value

Meaning

1

IMU 1

2

IMU 2

3

IMU 3

INS_POS1_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the first IMU Accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment

Range

Units

0.01

-5 - 5

meters

INS_POS1_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the first IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment

Range

Units

0.01

-5 - 5

meters

INS_POS1_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the first IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment

Range

Units

0.01

-5 - 5

meters

INS_POS2_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the second IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment

Range

Units

0.01

-5 - 5

meters

INS_POS2_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the second IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment

Range

Units

0.01

-5 - 5

meters

INS_POS2_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the second IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment

Range

Units

0.01

-5 - 5

meters

INS_POS3_X: IMU accelerometer X position

Note: This parameter is for advanced users

X position of the third IMU accelerometer in body frame. Positive X is forward of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Range

Units

-10 - 10

meters

INS_POS3_Y: IMU accelerometer Y position

Note: This parameter is for advanced users

Y position of the third IMU accelerometer in body frame. Positive Y is to the right of the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment

Range

Units

0.01

-5 - 5

meters

INS_POS3_Z: IMU accelerometer Z position

Note: This parameter is for advanced users

Z position of the third IMU accelerometer in body frame. Positive Z is down from the origin. Attention: The IMU should be located as close to the vehicle c.g. as practical so that the value of this parameter is minimised. Failure to do so can result in noisy navigation velocity measurements due to vibration and IMU gyro noise. If the IMU cannot be moved and velocity noise is a problem, a location closer to the IMU can be used as the body frame origin.

Increment

Range

Units

0.01

-5 - 5

meters

INS_GYR_ID: Gyro ID

Note: This parameter is for advanced users

Gyro sensor ID, taking into account its type, bus and instance

ReadOnly

True

INS_GYR2_ID: Gyro2 ID

Note: This parameter is for advanced users

Gyro2 sensor ID, taking into account its type, bus and instance

ReadOnly

True

INS_GYR3_ID: Gyro3 ID

Note: This parameter is for advanced users

Gyro3 sensor ID, taking into account its type, bus and instance

ReadOnly

True

INS_ACC_ID: Accelerometer ID

Note: This parameter is for advanced users

Accelerometer sensor ID, taking into account its type, bus and instance

ReadOnly

True

INS_ACC2_ID: Accelerometer2 ID

Note: This parameter is for advanced users

Accelerometer2 sensor ID, taking into account its type, bus and instance

ReadOnly

True

INS_ACC3_ID: Accelerometer3 ID

Note: This parameter is for advanced users

Accelerometer3 sensor ID, taking into account its type, bus and instance

ReadOnly

True

INS_FAST_SAMPLE: Fast sampling mask

Note: This parameter is for advanced users

Mask of IMUs to enable fast sampling on, if available

Bitmask

Bit

Meaning

0

FirstIMU

1

SecondIMU

2

ThirdIMU

INS_ENABLE_MASK: IMU enable mask

Note: This parameter is for advanced users

Bitmask of IMUs to enable. It can be used to prevent startup of specific detected IMUs

Bitmask

Bit

Meaning

0

FirstIMU

1

SecondIMU

2

ThirdIMU

3

FourthIMU

4

FifthIMU

5

SixthIMU

6

SeventhIMU

INS_GYRO_RATE: Gyro rate for IMUs with Fast Sampling enabled

Note: This parameter is for advanced users
Note: Reboot required after change

Gyro rate for IMUs with fast sampling enabled. The gyro rate is the sample rate at which the IMU filters operate and needs to be at least double the maximum filter frequency. If the sensor does not support the selected rate the next highest supported rate will be used. For IMUs which do not support fast sampling this setting is ignored and the default gyro rate of 1Khz is used.

Values

Value

Meaning

0

1kHz

1

2kHz

2

4kHz

3

8kHz

INS_ACC1_CALTEMP: Calibration temperature for 1st accelerometer

Note: This parameter is for advanced users

Temperature that the 1st accelerometer was calibrated at

Calibration

Units

1

degrees Celsius

INS_GYR1_CALTEMP: Calibration temperature for 1st gyroscope

Note: This parameter is for advanced users

Temperature that the 1st gyroscope was calibrated at

Calibration

Units

1

degrees Celsius

INS_ACC2_CALTEMP: Calibration temperature for 2nd accelerometer

Note: This parameter is for advanced users

Temperature that the 2nd accelerometer was calibrated at

Calibration

Units

1

degrees Celsius

INS_GYR2_CALTEMP: Calibration temperature for 2nd gyroscope

Note: This parameter is for advanced users

Temperature that the 2nd gyroscope was calibrated at

Calibration

Units

1

degrees Celsius

INS_ACC3_CALTEMP: Calibration temperature for 3rd accelerometer

Note: This parameter is for advanced users

Temperature that the 3rd accelerometer was calibrated at

Calibration

Units

1

degrees Celsius

INS_GYR3_CALTEMP: Calibration temperature for 3rd gyroscope

Note: This parameter is for advanced users

Temperature that the 3rd gyroscope was calibrated at

Calibration

Units

1

degrees Celsius

INS_TCAL_OPTIONS: Options for temperature calibration

Note: This parameter is for advanced users

This enables optional temperature calibration features. Setting PersistParams will save the accelerometer and temperature calibration parameters in the bootloader sector on the next update of the bootloader.

Bitmask

Bit

Meaning

0

PersistParams

INS_HNTC2_ Parameters

INS_HNTC2_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values

Value

Meaning

0

Disabled

1

Enabled

INS_HNTC2_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.

Range

Units

10 - 495

hertz

INS_HNTC2_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Range

Units

5 - 250

hertz

INS_HNTC2_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Range

Units

5 - 50

decibel

INS_HNTC2_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users
Note: Reboot required after change

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this filter. The first harmonic refers to the base frequency.

Bitmask

Bit

Meaning

0

1st harmonic

1

2nd harmonic

2

3rd harmonic

3

4th hamronic

4

5th harmonic

5

6th harmonic

6

7th harmonic

7

8th harmonic

INS_HNTC2_REF: Harmonic Notch Filter reference value

Note: This parameter is for advanced users
Note: Reboot required after change

A reference value of zero disables dynamic updates on the Harmonic Notch Filter and a positive value enables dynamic updates on the Harmonic Notch Filter. For throttle-based scaling, this parameter is the reference value associated with the specified frequency to facilitate frequency scaling of the Harmonic Notch Filter. For RPM and ESC telemetry based tracking, this parameter is set to 1 to enable the Harmonic Notch Filter using the RPM sensor or ESC telemetry set to measure rotor speed. The sensor data is converted to Hz automatically for use in the Harmonic Notch Filter. This reference value may also be used to scale the sensor data, if required. For example, rpm sensor data is required to measure heli motor RPM. Therefore the reference value can be used to scale the RPM sensor to the rotor RPM.

Range

0.0 - 1.0

INS_HNTC2_MODE: Harmonic Notch Filter dynamic frequency tracking mode

Note: This parameter is for advanced users

Harmonic Notch Filter dynamic frequency tracking mode. Dynamic updates can be throttle, RPM sensor, ESC telemetry or dynamic FFT based. Throttle-based updates should only be used with multicopters.

Range

Values

0 - 4

Value

Meaning

0

Disabled

1

Throttle

2

RPM Sensor

3

ESC Telemetry

4

Dynamic FFT

5

Second RPM Sensor

INS_HNTC2_OPTS: Harmonic Notch Filter options

Note: This parameter is for advanced users
Note: Reboot required after change

Harmonic Notch Filter options. Double-notches can provide deeper attenuation across a wider bandwidth than single notches and are suitable for larger aircraft. Dynamic harmonics attaches a harmonic notch to each detected noise frequency instead of simply being multiples of the base frequency, in the case of FFT it will attach notches to each of three detected noise peaks, in the case of ESC it will attach notches to each of four motor RPM values. Loop rate update changes the notch center frequency at the scheduler loop rate rather than at the default of 200Hz.

Bitmask

Bit

Meaning

0

Double notch

1

Dynamic harmonic

2

Update at loop rate

INS_HNTCH_ Parameters

INS_HNTCH_ENABLE: Harmonic Notch Filter enable

Note: This parameter is for advanced users

Harmonic Notch Filter enable

Values

Value

Meaning

0

Disabled

1

Enabled

INS_HNTCH_FREQ: Harmonic Notch Filter base frequency

Note: This parameter is for advanced users

Harmonic Notch Filter base center frequency in Hz. This should be set at most half the backend gyro rate (which is typically 1Khz). For helicopters using RPM sensor to dynamically set the notch frequency, use this parameter to provide a lower limit to the dynamic notch filter. Recommend setting it to half the operating rotor speed in Hz.

Range

Units

10 - 495

hertz

INS_HNTCH_BW: Harmonic Notch Filter bandwidth

Note: This parameter is for advanced users

Harmonic Notch Filter bandwidth in Hz. This is typically set to half the base frequency. The ratio of base frequency to bandwidth determines the notch quality factor and is fixed across harmonics.

Range

Units

5 - 250

hertz

INS_HNTCH_ATT: Harmonic Notch Filter attenuation

Note: This parameter is for advanced users

Harmonic Notch Filter attenuation in dB. Values greater than 40dB will typically produce a hard notch rather than a modest attenuation of motor noise.

Range

Units

5 - 50

decibel

INS_HNTCH_HMNCS: Harmonic Notch Filter harmonics

Note: This parameter is for advanced users
Note: Reboot required after change

Bitmask of harmonic frequencies to apply Harmonic Notch Filter to. This option takes effect on the next reboot. A value of 0 disables this f