Complete Parameter List

Full Parameter List of Rover latest V4.5.0 dev

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 basic log types by setting this to 65535.

Bitmask

Bit

Meaning

0

Fast Attitude

1

Medium Attitude

2

GPS

3

System Performance

4

Throttle

5

Navigation Tuning

7

IMU

8

Mission Commands

9

Battery Monitor

10

Rangefinder

11

Compass

12

Camera

13

Steering

14

RC Input-Output

19

Raw IMU

20

Video Stabilization

21

Optical Flow

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

8

Dock

9

Circle

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 to 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

6

Velocity North

7

Velocity East

Value

Meaning

0

None

1

Steering

2

Throttle

4

Pitch

8

Left Wheel

16

Right Wheel

32

Sailboat Heel

64

Velocity North

128

Velocity East

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 to 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 to 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 to 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 to 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 to 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

8

Dock

9

Circle

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

8

Dock

9

Circle

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

8

Dock

9

Circle

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

8

Dock

9

Circle

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

8

Dock

9

Circle

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

8

Dock

9

Circle

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 to 10

meters

ACRO_TURN_RATE: Acro mode turn rate maximum

Acro mode turn rate maximum

Increment

Range

Units

1

0 to 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 to 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 to 15

degrees

CRASH_ANGLE: Crash Angle

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

Increment

Range

Units

1

0 to 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 to 20

meters

MIS_DONE_BEHAVE: Mission done behave

Behaviour after mission completes

Values

Value

Meaning

0

Hold in Auto Mode

1

Loiter in Auto Mode

2

Acro Mode

3

Manual Mode

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 to 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 to 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 to 5

FS_OPTIONS: Failsafe Options

Note: This parameter is for advanced users

Bitmask to enable failsafe options

Bitmask

Values

Bit

Meaning

0

Failsafe enabled in Hold mode

Value

Meaning

0

None

1

Failsafe enabled in Hold mode

GUID_OPTIONS: Guided mode options

Note: This parameter is for advanced users

Options that can be applied to change guided mode behaviour

Bitmask

Bit

Meaning

6

SCurves used for navigation

MANUAL_OPTIONS: Manual mode options

Note: This parameter is for advanced users

Manual mode specific options

Bitmask

Bit

Meaning

0

Enable steering speed scaling

MANUAL_STR_EXPO: Manual Steering Expo

Note: This parameter is for advanced users

Manual steering expo to allow faster steering when stick at edges

Range

Values

-0.5 to 0.95

Value

Meaning

0

Disabled

0.1

Very Low

0.2

Low

0.3

Medium

0.4

High

0.5

Very High

FS_GCS_TIMEOUT: GCS failsafe timeout

Timeout before triggering the GCS failsafe

Increment

Range

Units

1

2 to 120

seconds

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 to 360

degrees

PIVOT_TURN_RATE: Pivot turn rate

Desired pivot turn rate in deg/s.

Increment

Range

Units

1

0 to 360

degrees per second

VEHICLE Parameters

FLTMODE_GCSBLOCK: Flight mode block from GCS

Bitmask of flight modes to disable for GCS selection. Mode can still be accessed via RC or failsafe.

Bitmask

Bit

Meaning

0

Manual

1

Acro

2

Steering

3

Loiter

4

Follow

5

Simple

6

Circle

7

Auto

8

RTL

9

SmartRTL

10

Guided

11

Dock

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. See the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot.

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

AFS_OPTIONS: AFS options

See description for each bitmask bit description

Bitmask

Bit

Meaning

0

Continue the mission even after comms are recovered (does not go to the mission item at the time comms were lost)

1

Enable AFS for all autonomous modes (not just AUTO)

AFS_GCS_TIMEOUT: GCS timeout

Note: This parameter is for advanced users

The time (in seconds) of persistent data link loss before GCS failsafe occurs.

Units

seconds

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 to 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 to 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 to 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 to 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 to +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 to +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 to +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. Firmware versions 4.2 and prior can use a CUSTOM (100) rotation to set the AHRS_CUSTOM_ROLL/PIT/YAW angles for AHRS orientation. Later versions provide two general custom rotations which can be used, Custom 1 and Custom 2, with CUST_ROT1_ROLL/PIT/YAW or CUST_ROT2_ROLL/PIT/YAW angles.

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 4.1 and older

101

Custom 1

102

Custom 2

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 to 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 to 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 to 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 to 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 to 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 to 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 to 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, sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, send 0 PWM (no signal) to throttle channel when disarmed. On planes with ICE enabled and the throttle while disarmed option set in ICE_OPTIONS, the motor will always get THR_MIN when disarmed. Arming will occur using either rudder stick arming (if enabled) or GCS command when all mandatory and ARMING_CHECK items are satisfied. Note, when setting this parameter to 0, a reboot is required to immediately arm the plane.

Values

Value

Meaning

0

Disabled

1

minimum 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 to 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 with throttle at zero +- deadzone (RCx_DZ). Depending on vehicle type, arming in certain modes is prevented. See the wiki for each vehicle. Caution is recommended when arming if it is allowed in an auto-throttle mode!

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

6

RTL

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

ARMING_OPTIONS: Arming options

Note: This parameter is for advanced users

Options that can be applied to change arming behaviour

Values

Value

Meaning

0

None

1

Disable prearm display

ARMING_MAGTHRESH: Compass magnetic field strength error threshold vs earth magnetic model

Note: This parameter is for advanced users

Compass magnetic field strength error threshold vs earth magnetic model. X and y axis are compared using this threhold, Z axis uses 2x this threshold. 0 to disable check

Range

Units

0 to 500

milligauss

ARSPD Parameters

ARSPD_ENABLE: Airspeed Enable

Enable airspeed sensor support

Values

Value

Meaning

0

Disable

1

Enable

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_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

This parameter and function is not used by this vehicle. Always set to 0.

Bitmask

Bit

Meaning

0

SpeedMismatchDisable

1

AllowSpeedMismatchRecovery

2

DisableVoltageCorrection

3

UseEkf3Consistency

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

Units

meters per second

ARSPD_WIND_WARN: Airspeed and GPS speed difference that gives a warning

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle. Always set to 0.

Units

meters per second

ARSPD_WIND_GATE: Re-enable Consistency Check Gate Size

Note: This parameter is for advanced users

This parameter and function is not used by this vehicle.

Range

0.0 to 10.0

ARSPD_OFF_PCNT: Maximum offset cal speed error

Note: This parameter is for advanced users

The maximum percentage speed change in airspeed reports that is allowed due to offset changes between calibraions before a warning is issued. This potential speed error is in percent of ASPD_FBW_MIN. 0 disables. Helps warn of calibrations without pitot being covered.

Range

Units

0.0 to 10.0

percent

ARSPD2_ Parameters

ARSPD2_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

100

SITL

ARSPD2_USE: Airspeed use

This parameter is not used by this vehicle. Always set to 0.

Values

Value

Meaning

0

DoNotUse

1

Use

2

UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset

Note: This parameter is for advanced users

Airspeed calibration offset

Increment

0.1

ARSPD2_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

ARSPD2_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.

ARSPD2_AUTOCAL: This parameter and function is not used by this vehicle. Always set to 0.

Note: This parameter is for advanced users

Enables automatic adjustment of airspeed 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.

ARSPD2_TUBE_ORDR: 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

ARSPD2_SKIP_CAL: Skip airspeed offset 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

ARSPD2_PSI_RANGE: The PSI range of the device

Note: This parameter is for advanced users

This parameter allows you 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

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

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

Values

Value

Meaning

0

Bus0

1

Bus1

2

Bus2

ARSPD2_DEVID: Airspeed ID

Note: This parameter is for advanced users

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

ReadOnly

True

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

100

SITL

ARSPD_USE: Airspeed use

This parameter is not used by this vehicle. Always set to 0.

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: This parameter and function is not used by this vehicle. Always set to 0.

Note: This parameter is for advanced users

Enables automatic adjustment of airspeed 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_ORDR: 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 offset 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 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
Note: Reboot required after change

Bus number of the I2C bus where the airspeed sensor is connected. May not correspond to board's I2C bus number labels. Retry another bus and reboot if airspeed sensor fails to initialize.

Values

Value

Meaning

0

Bus0

1

Bus1

2

Bus2

ARSPD_DEVID: Airspeed ID

Note: This parameter is for advanced users

Airspeed 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 to 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 to 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 to 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 to 0.400

ATC_STR_RAT_FF: Steering control feed forward

Steering control feed forward

Increment

Range

0.001

0.000 to 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 to 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 to 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 to 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 to 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 to 200

ATC_STR_RAT_PDMX: Steering control PD sum maximum

Note: This parameter is for advanced users

Steering control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Increment

Range

0.01

0.000 to 1.000

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 to 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 to 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 to 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 to 0.400

ATC_SPEED_FF: Speed control feed forward

Speed control feed forward

Increment

Range

0.001

0.000 to 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 to 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 to 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 to 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 to 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 to 200

ATC_SPEED_PDMX: Speed control PD sum maximum

Note: This parameter is for advanced users

Speed control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Increment

Range

0.01

0.000 to 1.000

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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 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 to 0.100

ATC_BAL_FF: Pitch control feed forward

Pitch control feed forward

Increment

Range

0.001

0.000 to 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 to 100.000

hertz

ATC_BAL_FLTT: Pitch control Target filter frequency in Hz

Pitch control Target filter frequency in Hz

Increment

Range

Units

0.1

0.000 to 100.000

hertz

ATC_BAL_FLTE: Pitch control Error filter frequency in Hz

Pitch control Error filter frequency in Hz

Increment

Range

Units

0.1

0.000 to 100.000

hertz

ATC_BAL_FLTD: Pitch control Derivative term filter frequency in Hz

Pitch control Derivative filter frequency in Hz

Increment

Range

Units

0.1

0.000 to 100.000

hertz

ATC_BAL_SMAX: Pitch control slew rate limit

Note: This parameter is for advanced users

Pitch control 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 to 200

ATC_BAL_PDMX: Pitch control PD sum maximum

Note: This parameter is for advanced users

Pitch control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Increment

Range

0.01

0.000 to 1.000

ATC_BAL_PIT_FF: Pitch control feed forward from current pitch angle

Pitch control feed forward from current pitch angle

Increment

Range

0.01

0.0 to 1.0

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 to 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 to 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 to 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 to 0.100

ATC_SAIL_FF: Sail Heel control feed forward

Sail Heel control feed forward

Increment

Range

0.001

0.000 to 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 to 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 to 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 to 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 to 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 to 200

ATC_SAIL_PDMX: Sail Heel control PD sum maximum

Note: This parameter is for advanced users

Sail Heel control PD sum maximum. The maximum/minimum value that the sum of the P and D term can output

Increment

Range

0.01

0.000 to 1.000

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 to 10

standard acceleration due to gravity

ATC_BAL_LIM_TC: Pitch control limit time constant

Pitch control limit time constant to protect against falling. Lower values limit pitch more quickly, higher values limit more slowly. Set to 0 to disable

Increment

Range

0.01

0.0 to 5.0

ATC_BAL_LIM_THR: Pitch control limit throttle threshold

Pitch control limit throttle threshold. Pitch angle will be limited if throttle crosses this threshold (from 0 to 1)

Increment

Range

0.01

0.0 to 1.0

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 to 10

meters

AVOID_BEHAVE: Avoidance behaviour

Avoidance behaviour (slide or stop)

Values

Value

Meaning

0

Slide

1

Stop

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 to 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 to 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 to 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 BARO_PROBE_EXT parameter.

Values

Value

Meaning

-1

Disabled

0

Bus0

1

Bus1

6

Bus6

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 to 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 BARO_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 BARO_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

BARO_FIELD_ELV: field elevation

Note: This parameter is for advanced users

User provided field elevation in meters. 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. Changes to this parameter will only be used when disarmed. A value of 0 means the EKF origin height is used for takeoff height above sea level.

Increment

Units

Volatile

0.1

meters

True

BARO_ALTERR_MAX: Altitude error maximum

Note: This parameter is for advanced users

This is the maximum acceptable altitude discrepancy between GPS altitude and barometric presssure altitude calculated against a standard atmosphere for arming checks to pass. If you are getting an arming error due to this parameter then you may have a faulty or substituted barometer. A common issue is vendors replacing a MS5611 in a "Pixhawk" with a MS5607. If you have that issue then please see BARO_OPTIONS parameter to force the MS5611 to be treated as a MS5607. This check is disabled if the value is zero.

Increment

Range

Units

1

0 to 5000

meters

BARO_OPTIONS: Barometer options

Note: This parameter is for advanced users

Barometer options

Bitmask

Bit

Meaning

0

Treat MS5611 as MS5607

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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BARO1_WCF_UP: Pressure error coefficient in positive Z direction (up)

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 Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BARO1_WCF_DN: Pressure error coefficient in negative Z direction (down)

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 Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BARO2_WCF_UP: Pressure error coefficient in positive Z direction (up)

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 Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BARO2_WCF_DN: Pressure error coefficient in negative Z direction (down)

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 Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BARO3_WCF_UP: Pressure error coefficient in positive Z direction (up)

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 Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 1.0

BARO3_WCF_DN: Pressure error coefficient in negative Z direction (down)

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 Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.

Increment

Range

0.05

-1.0 to 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

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

26

INA239_SPI

27

EFI

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 to 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_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment

Range

1

0 to 10

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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units

ampere per volt

BATT2_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units

volt

BATT2_VLT_OFFSET: Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT2_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

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

Battery monitor I2C address

Range

0 to 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 to 10

BATT2_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

Units

0.01 to 10

volt

BATT2_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

0.01 to 10

BATT2_FL_FLTR: Fuel level filter frequency

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

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range

Units

-1 to 1

hertz

BATT2_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT2_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT2_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT2_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

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

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range

0 to 127

BATT2_MAX_AMPS: Battery monitor max current

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

This controls the maximum current the INS2XX sensor will work with.

Range

Units

1 to 400

ampere

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

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

26

INA239_SPI

27

EFI

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 to 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_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment

Range

1

0 to 10

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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units

ampere per volt

BATT3_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units

volt

BATT3_VLT_OFFSET: Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT3_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

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

Battery monitor I2C address

Range

0 to 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 to 10

BATT3_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

Units

0.01 to 10

volt

BATT3_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

0.01 to 10

BATT3_FL_FLTR: Fuel level filter frequency

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

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range

Units

-1 to 1

hertz

BATT3_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT3_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT3_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT3_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

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

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range

0 to 127

BATT3_MAX_AMPS: Battery monitor max current

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

This controls the maximum current the INS2XX sensor will work with.

Range

Units

1 to 400

ampere

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

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

26

INA239_SPI

27

EFI

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 to 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_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment

Range

1

0 to 10

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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units

ampere per volt

BATT4_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units

volt

BATT4_VLT_OFFSET: Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT4_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

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

Battery monitor I2C address

Range

0 to 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 to 10

BATT4_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

Units

0.01 to 10

volt

BATT4_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

0.01 to 10

BATT4_FL_FLTR: Fuel level filter frequency

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

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range

Units

-1 to 1

hertz

BATT4_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT4_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT4_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT4_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

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

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range

0 to 127

BATT4_MAX_AMPS: Battery monitor max current

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

This controls the maximum current the INS2XX sensor will work with.

Range

Units

1 to 400

ampere

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

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

26

INA239_SPI

27

EFI

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 to 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_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment

Range

1

0 to 10

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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units

ampere per volt

BATT5_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units

volt

BATT5_VLT_OFFSET: Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT5_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

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

Battery monitor I2C address

Range

0 to 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 to 10

BATT5_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

Units

0.01 to 10

volt

BATT5_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

0.01 to 10

BATT5_FL_FLTR: Fuel level filter frequency

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

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range

Units

-1 to 1

hertz

BATT5_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT5_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT5_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT5_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

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

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range

0 to 127

BATT5_MAX_AMPS: Battery monitor max current

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

This controls the maximum current the INS2XX sensor will work with.

Range

Units

1 to 400

ampere

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

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

26

INA239_SPI

27

EFI

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 to 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_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment

Range

1

0 to 10

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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units

ampere per volt

BATT6_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units

volt

BATT6_VLT_OFFSET: Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT6_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

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

Battery monitor I2C address

Range

0 to 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 to 10

BATT6_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

Units

0.01 to 10

volt

BATT6_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

0.01 to 10

BATT6_FL_FLTR: Fuel level filter frequency

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

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range

Units

-1 to 1

hertz

BATT6_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT6_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT6_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT6_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

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

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range

0 to 127

BATT6_MAX_AMPS: Battery monitor max current

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

This controls the maximum current the INS2XX sensor will work with.

Range

Units

1 to 400

ampere

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

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

26

INA239_SPI

27

EFI

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 to 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_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment

Range

1

0 to 10

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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units

ampere per volt

BATT7_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units

volt

BATT7_VLT_OFFSET: Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT7_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

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

Battery monitor I2C address

Range

0 to 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 to 10

BATT7_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

Units

0.01 to 10

volt

BATT7_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

0.01 to 10

BATT7_FL_FLTR: Fuel level filter frequency

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

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range

Units

-1 to 1

hertz

BATT7_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT7_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT7_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT7_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

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

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range

0 to 127

BATT7_MAX_AMPS: Battery monitor max current

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

This controls the maximum current the INS2XX sensor will work with.

Range

Units

1 to 400

ampere

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

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

26

INA239_SPI

27

EFI

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 to 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_ESC_INDEX: ESC Telemetry Index to write to

Note: This parameter is for advanced users

ESC Telemetry Index to write voltage, current, consumption and temperature data to. Use 0 to disable.

Increment

Range

1

0 to 10

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. For Synthetic Current sensor monitors, this is the maximum, full throttle current draw.

Units

ampere per volt

BATT8_AMP_OFFSET: AMP offset

Voltage offset at zero current on current sensor for Analog Sensors. For Synthetic Current sensor, this offset is the zero throttle system current and is added to the calculated throttle base current.

Units

volt

BATT8_VLT_OFFSET: Voltage 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 (AP_BattMonitor_SMBus): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT8_I2C_ADDR (AP_BattMonitor_SMBus): Battery monitor I2C address

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

Battery monitor I2C address

Range

0 to 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 to 10

BATT8_FL_VLT_MIN: Empty fuel level voltage

Note: This parameter is for advanced users

The voltage seen on the analog pin when the fuel tank is empty. Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

Units

0.01 to 10

volt

BATT8_FL_V_MULT: Fuel level voltage multiplier

Note: This parameter is for advanced users

Voltage multiplier to determine what the full tank voltage reading is. This is calculated as 1 / (Voltage_Full - Voltage_Empty) Note: For this type of battery monitor, the voltage seen by the analog pin is displayed as battery voltage on a GCS.

Range

0.01 to 10

BATT8_FL_FLTR: Fuel level filter frequency

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

Filter frequency in Hertz where a low pass filter is used. This is used to filter out tank slosh from the fuel level reading. A value of -1 disables the filter and unfiltered voltage is used to determine the fuel level. The suggested values at in the range of 0.2 Hz to 0.5 Hz.

Range

Units

-1 to 1

hertz

BATT8_FL_PIN: Fuel level analog pin number

Analog input pin that fuel level sensor is connected to. Airspeed ports can be used for Analog input. When using analog pin 103, the maximum value of the input in 3.3V.

Values

Value

Meaning

-1

Not Used

11

Pixracer

13

Pixhawk ADC4

14

Pixhawk ADC3

15

Pixhawk ADC6/Pixhawk2 ADC

103

Pixhawk SBUS

BATT8_MAX_VOLT: Maximum Battery Voltage

Note: This parameter is for advanced users

Maximum voltage of battery. Provides scaling of current versus voltage

Range

7 to 100

BATT8_I2C_BUS (AP_BattMonitor_INA2xx): Battery monitor I2C bus number

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

Battery monitor I2C bus number

Range

0 to 3

BATT8_I2C_ADDR (AP_BattMonitor_INA2xx): Battery monitor I2C address

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

Battery monitor I2C address. If this is zero then probe list of supported addresses

Range

0 to 127

BATT8_MAX_AMPS: Battery monitor max current

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

This controls the maximum current the INS2XX sensor will work with.

Range

Units

1 to 400

ampere

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

24

FuelLevelAnalog

25

Synthetic Current and Analog Voltage

26

INA239_SPI

27

EFI

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 to 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