Complete Parameter List¶

Full Parameter List of Rover latest V4.2.0 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 log types by setting this to 65535. The individual bits are ATTITUDE_FAST=1, ATTITUDE_MEDIUM=2, GPS=4, PerformanceMonitoring=8, ControlTuning=16, NavigationTuning=32, Mode=64, IMU=128, Commands=256, Battery=512, Compass=1024, TECS=2048, Camera=4096, RCandServo=8192, Rangefinder=16384, Arming=32768, FullLogs=65535

Bitmask

Bit	Meaning
0	ATTITUDE_FAST
1	ATTITUDE_MED
2	GPS
3	PM
4	THR
5	NTUN
7	IMU
8	CMD
9	CURRENT
10	RANGEFINDER
11	COMPASS
12	CAMERA
13	STEERING
14	RC
15	ARM/DISARM
19	IMU_RAW

RST_SWITCH_CH: Reset Switch Channel¶

Note: This parameter is for advanced users

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

INITIAL_MODE: Initial driving mode¶

Note: This parameter is for advanced users

This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.

Values

Value	Meaning
0	Manual
1	Acro
3	Steering
4	Hold
5	Loiter
6	Follow
7	Simple
10	Auto
11	RTL
12	SmartRTL
15	Guided

SYSID_THISMAV: MAVLink system ID of this vehicle¶

Note: This parameter is for advanced users

Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network

Range
1 - 255

SYSID_MYGCS: MAVLink ground station ID¶

Note: This parameter is for advanced users

The identifier of the ground station in the MAVLink protocol. Don’t change this unless you also modify the ground station to match.

Range
1 - 255

TELEM_DELAY: Telemetry startup delay¶

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

Increment	Range	Units
1	0 - 30	seconds

GCS_PID_MASK: GCS PID tuning mask¶

Note: This parameter is for advanced users

bitmask of PIDs to send MAVLink PID_TUNING messages for

Bitmask

Values

Bit	Meaning
0	Steering
1	Throttle
2	Pitch
3	Left Wheel
4	Right Wheel
5	Sailboat Heel

Value	Meaning
0	None
1	Steering
2	Throttle
4	Pitch
8	Left Wheel
16	Right Wheel
32	Sailboat Heel

AUTO_TRIGGER_PIN: Auto mode trigger pin¶

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

Values

Value	Meaning
-1	Disabled
0	APM TriggerPin0
1	APM TriggerPin1
2	APM TriggerPin2
3	APM TriggerPin3
4	APM TriggerPin4
5	APM TriggerPin5
6	APM TriggerPin6
7	APM TriggerPin7
8	APM TriggerPin8
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

AUTO_KICKSTART: Auto mode trigger kickstart acceleration¶

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

Increment	Range	Units
0.1	0 - 20	meters per square second

CRUISE_SPEED: Target cruise speed in auto modes¶

The target speed in auto missions.

Increment	Range	Units
0.1	0 - 100	meters per second

CRUISE_THROTTLE: Base throttle percentage in auto¶

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

Increment	Range	Units
1	0 - 100	percent

PILOT_STEER_TYPE: Pilot input steering type¶

Pilot RC input interpretation

Values

Value	Meaning
0	Default
1	Two Paddles Input
2	Direction reversed when backing up
3	Direction unchanged when backing up

FS_ACTION: Failsafe Action¶

What to do on a failsafe event

Values

Value	Meaning
0	Nothing
1	RTL
2	Hold
3	SmartRTL or RTL
4	SmartRTL or Hold

FS_TIMEOUT: Failsafe timeout¶

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

Increment	Range	Units
0.5	1 - 100	seconds

FS_THR_ENABLE: Throttle Failsafe Enable¶

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

Values

Value	Meaning
0	Disabled
1	Enabled
2	Enabled Continue with Mission in Auto

FS_THR_VALUE: Throttle Failsafe Value¶

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

Increment	Range
1	910 - 1100

FS_GCS_ENABLE: GCS failsafe enable¶

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

Values

Value	Meaning
0	Disabled
1	Enabled
2	Enabled Continue with Mission in Auto

FS_CRASH_CHECK: Crash check action¶

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

Values

Value	Meaning
0	Disabled
1	Hold
2	HoldAndDisarm

FS_EKF_ACTION: EKF Failsafe Action¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Hold
2	ReportOnly

FS_EKF_THRESH: EKF failsafe variance threshold¶

Note: This parameter is for advanced users

Allows setting the maximum acceptable compass and velocity variance

Values

Value	Meaning
0.6	Strict
0.8	Default
1.0	Relaxed

MODE_CH: Mode channel¶

Note: This parameter is for advanced users

RC Channel to use for driving mode control

MODE1: Mode1¶

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

Values

Value	Meaning
0	Manual
1	Acro
3	Steering
4	Hold
5	Loiter
6	Follow
7	Simple
10	Auto
11	RTL
12	SmartRTL
15	Guided

MODE2: Mode2¶

Driving mode for switch position 2 (1231 to 1360)

Values

Value	Meaning
0	Manual
1	Acro
3	Steering
4	Hold
5	Loiter
6	Follow
7	Simple
10	Auto
11	RTL
12	SmartRTL
15	Guided

MODE3: Mode3¶

Driving mode for switch position 3 (1361 to 1490)

Values

Value	Meaning
0	Manual
1	Acro
3	Steering
4	Hold
5	Loiter
6	Follow
7	Simple
10	Auto
11	RTL
12	SmartRTL
15	Guided

MODE4: Mode4¶

Driving mode for switch position 4 (1491 to 1620)

Values

Value	Meaning
0	Manual
1	Acro
3	Steering
4	Hold
5	Loiter
6	Follow
7	Simple
10	Auto
11	RTL
12	SmartRTL
15	Guided

MODE5: Mode5¶

Driving mode for switch position 5 (1621 to 1749)

Values

Value	Meaning
0	Manual
1	Acro
3	Steering
4	Hold
5	Loiter
6	Follow
7	Simple
10	Auto
11	RTL
12	SmartRTL
15	Guided

MODE6: Mode6¶

Driving mode for switch position 6 (1750 to 2049)

Values

Value	Meaning
0	Manual
1	Acro
3	Steering
4	Hold
5	Loiter
6	Follow
7	Simple
10	Auto
11	RTL
12	SmartRTL
15	Guided

SYSID_ENFORCE: GCS sysid enforcement¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	NotEnforced
1	Enforced

TURN_RADIUS: Turn radius of vehicle¶

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

Increment	Range	Units
0.1	0 - 10	meters

ACRO_TURN_RATE: Acro mode turn rate maximum¶

Acro mode turn rate maximum

Increment	Range	Units
1	0 - 360	degrees per second

RTL_SPEED: Return-to-Launch speed default¶

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

Increment	Range	Units
0.1	0 - 100	meters per second

FRAME_CLASS: Frame Class¶

Frame Class

Values

Value	Meaning
0	Undefined
1	Rover
2	Boat
3	BalanceBot

BAL_PITCH_MAX: BalanceBot Maximum Pitch¶

Pitch angle in degrees at 100% throttle

Increment	Range	Units
0.1	0 - 5	degrees

CRASH_ANGLE: Crash Angle¶

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

Increment	Range	Units
1	0 - 60	degrees

FRAME_TYPE: Frame Type¶

Note: Reboot required after change

Frame Type

Values

Value	Meaning
0	Undefined
1	Omni3
2	OmniX
3	OmniPlus

LOIT_TYPE: Loiter type¶

Loiter behaviour when moving to the target point

Values

Value	Meaning
0	Forward or reverse to target point
1	Always face bow towards target point
2	Always face stern towards target point

SIMPLE_TYPE: Simple_Type¶

Note: Reboot required after change

Simple mode types

Values

Value	Meaning
0	InitialHeading
1	CardinalDirections

LOIT_RADIUS: Loiter radius¶

Vehicle will drift when within this distance of the target position

Increment	Range	Units
1	0 - 20	meters

MIS_DONE_BEHAVE: Mission done behave¶

Behaviour after mission completes

Values

Value	Meaning
0	Hold
1	Loiter
2	Acro
3	Manual

BAL_PITCH_TRIM: Balance Bot pitch trim angle¶

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

Increment	Range	Units
0.1	-2 - 2	degrees

STICK_MIXING: Stick Mixing¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

SPEED_MAX: Speed maximum¶

Note: This parameter is for advanced users

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

Increment	Range	Units
0.1	0 - 30	meters per second

LOIT_SPEED_GAIN: Loiter speed gain¶

Note: This parameter is for advanced users

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

Increment	Range
0.01	0 - 5

FS_OPTIONS: Rover Failsafe Options¶

Note: This parameter is for advanced users

Bitmask to enable Rover failsafe options

Bitmask

Values

Bit	Meaning
0	Failsafe enabled in Hold mode

Value	Meaning
0	None
1	Failsafe enabled in Hold mode

CH7_OPTION: Channel 7 option¶

What to do use channel 7 for

Values

Value	Meaning
0	Nothing
1	SaveWaypoint
2	LearnCruiseSpeed
3	ArmDisarm
4	Manual
5	Acro
6	Steering
7	Hold
8	Auto
9	RTL
10	SmartRTL
11	Guided
12	Loiter

AUX_CH: Auxiliary switch channel¶

Note: This parameter is for advanced users

RC Channel to use for auxiliary functions including saving waypoints

PIVOT_TURN_ANGLE: Pivot turn angle¶

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

Increment	Range	Units
1	0 - 360	degrees

PIVOT_TURN_RATE: Pivot turn rate¶

Desired pivot turn rate in deg/s.

Increment	Range	Units
1	0 - 360	degrees per second

AFS_ Parameters¶

AFS_ENABLE: Enable Advanced Failsafe¶

Note: This parameter is for advanced users

This enables the advanced failsafe system. If this is set to zero (disable) then all the other AFS options have no effect

AFS_MAN_PIN: Manual Pin¶

Note: This parameter is for advanced users

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

AFS_HB_PIN: Heartbeat Pin¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

AFS_WP_COMMS: Comms Waypoint¶

Note: This parameter is for advanced users

Waypoint number to navigate to on comms loss

AFS_WP_GPS_LOSS: GPS Loss Waypoint¶

Note: This parameter is for advanced users

Waypoint number to navigate to on GPS lock loss

AFS_TERMINATE: Force Terminate¶

Note: This parameter is for advanced users

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

AFS_TERM_ACTION: Terminate action¶

Note: This parameter is for advanced users

This can be used to force an action on flight termination. Normally this is handled by an external failsafe board, but you can setup ArduPilot to handle it here. Please consult the wiki for more information on the possible values of the parameter

AFS_TERM_PIN: Terminate Pin¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
-1	Disabled
49	BB Blue GP0 pin 4
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6
57	BB Blue GP0 pin 3
113	BB Blue GP0 pin 6
116	BB Blue GP0 pin 5

AFS_AMSL_LIMIT: AMSL limit¶

Note: This parameter is for advanced users

This sets the AMSL (above mean sea level) altitude limit. If the pressure altitude determined by QNH exceeds this limit then flight termination will be forced. Note that this limit is in meters, whereas pressure altitude limits are often quoted in feet. A value of zero disables the pressure altitude limit.

Units
meters

AFS_AMSL_ERR_GPS: Error margin for GPS based AMSL limit¶

Note: This parameter is for advanced users

This sets margin for error in GPS derived altitude limit. This error margin is only used if the barometer has failed. If the barometer fails then the GPS will be used to enforce the AMSL_LIMIT, but this margin will be subtracted from the AMSL_LIMIT first, to ensure that even with the given amount of GPS altitude error the pressure altitude is not breached. OBC users should set this to comply with their D2 safety case. A value of -1 will mean that barometer failure will lead to immediate termination.

Units
meters

AFS_QNH_PRESSURE: QNH pressure¶

Note: This parameter is for advanced users

This sets the QNH pressure in millibars to be used for pressure altitude in the altitude limit. A value of zero disables the altitude limit.

Units
hectopascal

AFS_MAX_GPS_LOSS: Maximum number of GPS loss events¶

Note: This parameter is for advanced users

Maximum number of GPS loss events before the aircraft stops returning to mission on GPS recovery. Use zero to allow for any number of GPS loss events.

AFS_MAX_COM_LOSS: Maximum number of comms loss events¶

Note: This parameter is for advanced users

Maximum number of comms loss events before the aircraft stops returning to mission on comms recovery. Use zero to allow for any number of comms loss events.

AFS_GEOFENCE: Enable geofence Advanced Failsafe¶

Note: This parameter is for advanced users

This enables the geofence part of the AFS. Will only be in effect if AFS_ENABLE is also 1

AFS_RC: Enable RC Advanced Failsafe¶

Note: This parameter is for advanced users

This enables the RC part of the AFS. Will only be in effect if AFS_ENABLE is also 1

AFS_RC_MAN_ONLY: Enable RC Termination only in manual control modes¶

Note: This parameter is for advanced users

If this parameter is set to 1, then an RC loss will only cause the plane to terminate in manual control modes. If it is 0, then the plane will terminate in any flight mode.

AFS_DUAL_LOSS: Enable dual loss terminate due to failure of both GCS and GPS simultaneously¶

Note: This parameter is for advanced users

This enables the dual loss termination part of the AFS system. If this parameter is 1 and both GPS and the ground control station fail simultaneously, this will be considered a “dual loss” and cause termination.

AFS_RC_FAIL_TIME: RC failure time¶

Note: This parameter is for advanced users

This is the time in seconds in manual mode that failsafe termination will activate if RC input is lost. For the OBC rules this should be (1.5). Use 0 to disable.

Units
seconds

AFS_MAX_RANGE: Max allowed range¶

Note: This parameter is for advanced users

This is the maximum range of the vehicle in kilometers from first arming. If the vehicle goes beyond this range then the TERM_ACTION is performed. A value of zero disables this feature.

Units
kilometers

AHRS_ Parameters¶

AHRS_GPS_GAIN: AHRS GPS gain¶

Note: This parameter is for advanced users

This controls how much to use the GPS to correct the attitude. This should never be set to zero for a plane as it would result in the plane losing control in turns. For a plane please use the default value of 1.0.

Increment	Range
.01	0.0 - 1.0

AHRS_GPS_USE: AHRS use GPS for DCM navigation and position-down¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Use GPS for DCM position
2	Use GPS for DCM position and height

AHRS_YAW_P: Yaw P¶

Note: This parameter is for advanced users

This controls the weight the compass or GPS has on the heading. A higher value means the heading will track the yaw source (GPS or compass) more rapidly.

Increment	Range
.01	0.1 - 0.4

AHRS_RP_P: AHRS RP_P¶

Note: This parameter is for advanced users

This controls how fast the accelerometers correct the attitude

Increment	Range
.01	0.1 - 0.4

AHRS_WIND_MAX: Maximum wind¶

Note: This parameter is for advanced users

This sets the maximum allowable difference between ground speed and airspeed. This allows the plane to cope with a failing airspeed sensor. A value of zero means to use the airspeed as is. See ARSPD_OPTIONS and ARSPD_MAX_WIND to disable airspeed sensors.

Increment	Range	Units
1	0 - 127	meters per second

AHRS_TRIM_X: AHRS Trim Roll¶

Compensates for the roll angle difference between the control board and the frame. Positive values make the vehicle roll right.

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_TRIM_Y: AHRS Trim Pitch¶

Compensates for the pitch angle difference between the control board and the frame. Positive values make the vehicle pitch up/back.

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_TRIM_Z: AHRS Trim Yaw¶

Note: This parameter is for advanced users

Not Used

Increment	Range	Units
0.01	-0.1745 - +0.1745	radians

AHRS_ORIENTATION: Board Orientation¶

Note: This parameter is for advanced users

Overall board orientation relative to the standard orientation for the board type. This rotates the IMU and compass readings to allow the board to be oriented in your vehicle at any 90 or 45 degree angle. The label for each option is specified in the order of rotations for that orientation. This option takes affect on next boot. After changing you will need to re-level your vehicle.

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom

AHRS_COMP_BETA: AHRS Velocity Complementary Filter Beta Coefficient¶

Note: This parameter is for advanced users

This controls the time constant for the cross-over frequency used to fuse AHRS (airspeed and heading) and GPS data to estimate ground velocity. Time constant is 0.1/beta. A larger time constant will use GPS data less and a small time constant will use air data less.

Increment	Range
.01	0.001 - 0.5

AHRS_GPS_MINSATS: AHRS GPS Minimum satellites¶

Note: This parameter is for advanced users

Minimum number of satellites visible to use GPS for velocity based corrections attitude correction. This defaults to 6, which is about the point at which the velocity numbers from a GPS become too unreliable for accurate correction of the accelerometers.

Increment	Range
1	0 - 10

AHRS_EKF_TYPE: Use NavEKF Kalman filter for attitude and position estimation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
2	Enable EKF2
3	Enable EKF3
11	ExternalAHRS

AHRS_CUSTOM_ROLL: Board orientation roll offset¶

Note: This parameter is for advanced users

Autopilot mounting position roll offset. Positive values = roll right, negative values = roll left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

Increment	Range	Units
1	-180 - 180	degrees

AHRS_CUSTOM_PIT: Board orientation pitch offset¶

Note: This parameter is for advanced users

Autopilot mounting position pitch offset. Positive values = pitch up, negative values = pitch down. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

Increment	Range	Units
1	-180 - 180	degrees

AHRS_CUSTOM_YAW: Board orientation yaw offset¶

Note: This parameter is for advanced users

Autopilot mounting position yaw offset. Positive values = yaw right, negative values = yaw left. This parameter is only used when AHRS_ORIENTATION is set to CUSTOM.

Increment	Range	Units
1	-180 - 180	degrees

AIS_ Parameters¶

AIS_TYPE: AIS receiver type¶

Note: Reboot required after change

AIS receiver type

Values

Value	Meaning
0	None
1	NMEA AIVDM message

AIS_LIST_MAX: AIS vessel list size¶

Note: This parameter is for advanced users

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

Range
1 - 100

AIS_TIME_OUT: AIS vessel time out¶

Note: This parameter is for advanced users

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

Range	Units
1 - 2000	seconds

AIS_LOGGING: AIS logging options¶

Note: This parameter is for advanced users

Bitmask of AIS logging options

Bitmask

Bit	Meaning
0	Log all AIVDM messages
1	Log only unsupported AIVDM messages
2	Log decoded messages

ARMING_ Parameters¶

ARMING_REQUIRE: Require Arming Motors¶

Note: This parameter is for advanced users

Arming disabled until some requirements are met. If 0, there are no requirements (arm immediately). If 1, require rudder stick or GCS arming before arming motors and sends the minimum throttle PWM value to the throttle channel when disarmed. If 2, require rudder stick or GCS arming and send 0 PWM to throttle channel when disarmed. See the ARMING_CHECK_* parameters to see what checks are done before arming. Note, if setting this parameter to 0 a reboot is required to arm the plane. Also note, even with this parameter at 0, if ARMING_CHECK parameter is not also zero the plane may fail to arm throttle at boot due to a pre-arm check failure.

Values

Value	Meaning
0	Disabled
1	THR_MIN PWM when disarmed
2	0 PWM when disarmed

ARMING_ACCTHRESH: Accelerometer error threshold¶

Note: This parameter is for advanced users

Accelerometer error threshold used to determine inconsistent accelerometers. Compares this error range to other accelerometers to detect a hardware or calibration error. Lower value means tighter check and harder to pass arming check. Not all accelerometers are created equal.

Range	Units
0.25 - 3.0	meters per square second

ARMING_RUDDER: Arming with Rudder enable/disable¶

Note: This parameter is for advanced users

Allow arm/disarm by rudder input. When enabled arming can be done with right rudder, disarming with left rudder. Rudder arming only works in manual throttle modes with throttle at zero +- deadzone (RCx_DZ)

Values

Value	Meaning
0	Disabled
1	ArmingOnly
2	ArmOrDisarm

ARMING_MIS_ITEMS: Required mission items¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Land
1	VTOL Land
2	DO_LAND_START
3	Takeoff
4	VTOL Takeoff
5	Rallypoint

ARMING_CHECK: Arm Checks to Perform (bitmask)¶

Checks prior to arming motor. This is a bitmask of checks that will be performed before allowing arming. For most users it is recommended to leave this at the default of 1 (all checks enabled). You can select whatever checks you prefer by adding together the values of each check type to set this parameter. For example, to only allow arming when you have GPS lock and no RC failsafe you would set ARMING_CHECK to 72.

Bitmask

Bit	Meaning
0	All
1	Barometer
2	Compass
3	GPS lock
4	INS
5	Parameters
6	RC Channels
7	Board voltage
8	Battery Level
10	Logging Available
11	Hardware safety switch
12	GPS Configuration
13	System
14	Mission
15	Rangefinder
16	Camera
17	AuxAuth
18	VisualOdometry
19	FFT

ARSPD Parameters¶

ARSPD_TYPE: Airspeed type¶

Type of airspeed sensor

Values

Value	Meaning
0	None
1	I2C-MS4525D0
2	Analog
3	I2C-MS5525
4	I2C-MS5525 (0x76)
5	I2C-MS5525 (0x77)
6	I2C-SDP3X
7	I2C-DLVR-5in
8	UAVCAN
9	I2C-DLVR-10in
10	I2C-DLVR-20in
11	I2C-DLVR-30in
12	I2C-DLVR-60in
13	NMEA water speed
14	MSP
15	ASP5033

ARSPD_DEVID: Airspeed ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

ARSPD_USE: Airspeed use¶

Enables airspeed use for automatic throttle modes and replaces control from THR_TRIM. Continues to display and log airspeed if set to 0. Uses airspeed for control if set to 1. Only uses airspeed when throttle = 0 if set to 2 (useful for gliders with airspeed sensors behind propellers).

Values

Value	Meaning
0	DoNotUse
1	Use
2	UseWhenZeroThrottle

ARSPD_OFFSET: Airspeed offset¶

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD_RATIO: Airspeed ratio¶

Note: This parameter is for advanced users

Calibrates pitot tube pressure to velocity. Increasing this value will indicate a higher airspeed at any given dynamic pressure.

Increment
0.1

ARSPD_PIN: Airspeed pin¶

Note: This parameter is for advanced users

The pin number that the airspeed sensor is connected to for analog sensors. Set to 15 on the Pixhawk for the analog airspeed port.

ARSPD_AUTOCAL: Automatic airspeed ratio calibration¶

Note: This parameter is for advanced users

Enables automatic adjustment of ARSPD_RATIO during a calibration flight based on estimation of ground speed and true airspeed. New ratio saved every 2 minutes if change is > 5%. Should not be left enabled.

ARSPD_TUBE_ORDER: Control pitot tube order¶

Note: This parameter is for advanced users

Changes the pitot tube order to specify the dynamic pressure side of the sensor. Accepts either if set to 2. Accepts only one side if set to 0 or 1 and can help detect excessive pressure on the static port without indicating positive airspeed.

ARSPD_SKIP_CAL: Skip airspeed calibration on startup¶

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

Values

Value	Meaning
0	Disable
1	Enable

ARSPD_PSI_RANGE: The PSI range of the device¶

Note: This parameter is for advanced users

This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

ARSPD_BUS: Airspeed I2C bus¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Bus0(internal)
1	Bus1(external)
2	Bus2(auxillary)

ARSPD_PRIMARY: Primary airspeed sensor¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	FirstSensor
1	2ndSensor

ARSPD_OPTIONS: Airspeed options bitmask¶

Note: This parameter is for advanced users

Bitmask of options to use with airspeed. 0:Disable use based on airspeed/groundspeed mismatch (see ARSPD_WIND_MAX), 1:Automatically reenable use based on airspeed/groundspeed mismatch recovery (see ARSPD_WIND_MAX) 2:Disable voltage correction

Bitmask

Bit	Meaning
0	SpeedMismatchDisable
1	AllowSpeedMismatchRecovery
2	DisableVoltageCorrection

ARSPD_WIND_MAX: Maximum airspeed and ground speed difference¶

Note: This parameter is for advanced users

If the difference between airspeed and ground speed is greater than this value the sensor will be marked unhealthy. Using ARSPD_OPTION this health value can be used to disable the sensor.

Units
meters per second

ARSPD_WIND_WARN: Airspeed and ground speed difference that gives a warning¶

Note: This parameter is for advanced users

If the difference between airspeed and ground speed is greater than this value the sensor will issue a warning. If 0 ARSPD_WIND_MAX is used.

Units
meters per second

ARSPD2_TYPE: Second Airspeed type¶

Type of 2nd airspeed sensor

Values

Value	Meaning
0	None
1	I2C-MS4525D0
2	Analog
3	I2C-MS5525
4	I2C-MS5525 (0x76)
5	I2C-MS5525 (0x77)
6	I2C-SDP3X
7	I2C-DLVR-5in
8	UAVCAN
9	I2C-DLVR-10in
10	I2C-DLVR-20in
11	I2C-DLVR-30in
12	I2C-DLVR-60in
13	NMEA water speed
14	MSP
15	ASP5033

ARSPD2_USE: Enable use of 2nd airspeed sensor¶

use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won’t be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller

Values

Value	Meaning
0	Don’t Use
1	use
2	UseWhenZeroThrottle

ARSPD2_OFFSET: Airspeed offset for 2nd airspeed sensor¶

Note: This parameter is for advanced users

Airspeed calibration offset

Increment
0.1

ARSPD2_RATIO: Airspeed ratio for 2nd airspeed sensor¶

Note: This parameter is for advanced users

Airspeed calibration ratio

Increment
0.1

ARSPD2_PIN: Airspeed pin for 2nd airspeed sensor¶

Note: This parameter is for advanced users

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

ARSPD2_AUTOCAL: Automatic airspeed ratio calibration for 2nd airspeed sensor¶

Note: This parameter is for advanced users

If this is enabled then the autopilot will automatically adjust the ARSPD_RATIO during flight, based upon an estimation filter using ground speed and true airspeed. The automatic calibration will save the new ratio to EEPROM every 2 minutes if it changes by more than 5%. This option should be enabled for a calibration flight then disabled again when calibration is complete. Leaving it enabled all the time is not recommended.

ARSPD2_TUBE_ORDR: Control pitot tube order of 2nd airspeed sensor¶

Note: This parameter is for advanced users

This parameter allows you to control whether the order in which the tubes are attached to your pitot tube matters. If you set this to 0 then the top connector on the sensor needs to be the dynamic pressure. If set to 1 then the bottom connector needs to be the dynamic 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 it receiving excessive pressure on the static port, which would otherwise be seen as a positive airspeed.

ARSPD2_SKIP_CAL: Skip airspeed calibration on startup for 2nd sensor¶

Note: This parameter is for advanced users

This parameter allows you to skip airspeed offset calibration on startup, instead using the offset from the last calibration. This may be desirable if the offset variance between flights for your sensor is low and you want to avoid having to cover the pitot tube on each boot.

Values

Value	Meaning
0	Disable
1	Enable

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

Note: This parameter is for advanced users

This parameter allows you to to set the PSI (pounds per square inch) range for your sensor. You should not change this unless you examine the datasheet for your device

ARSPD2_BUS: Airspeed I2C bus for 2nd sensor¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Bus0(internal)
1	Bus1(external)
2	Bus2(auxillary)

ARSPD2_DEVID: Airspeed2 ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

ATC Parameters¶

ATC_STR_RAT_P: Steering control rate P gain¶

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

Increment	Range
0.001	0.000 - 2.000

ATC_STR_RAT_I: Steering control I gain¶

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

Increment	Range
0.001	0.000 - 2.000

ATC_STR_RAT_IMAX: Steering control I gain maximum¶

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

Increment	Range
0.01	0.000 - 1.000

ATC_STR_RAT_D: Steering control D gain¶

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

Increment	Range
0.001	0.000 - 0.400

ATC_STR_RAT_FF: Steering control feed forward¶

Steering control feed forward

Increment	Range
0.001	0.000 - 3.000

ATC_STR_RAT_FILT: Steering control filter frequency¶

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

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_STR_RAT_FLTT: Steering control Target filter frequency in Hz¶

Target filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_STR_RAT_FLTE: Steering control Error filter frequency in Hz¶

Error filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_STR_RAT_FLTD: Steering control Derivative term filter frequency in Hz¶

Derivative filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_STR_RAT_SMAX: Steering slew rate limit¶

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 - 200

ATC_SPEED_P: Speed control P gain¶

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

Increment	Range
0.01	0.010 - 2.000

ATC_SPEED_I: Speed control I gain¶

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

Increment	Range
0.01	0.000 - 2.000

ATC_SPEED_IMAX: Speed control I gain maximum¶

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

Increment	Range
0.01	0.000 - 1.000

ATC_SPEED_D: Speed control D gain¶

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

Increment	Range
0.001	0.000 - 0.400

ATC_SPEED_FF: Speed control feed forward¶

Speed control feed forward

Increment	Range
0.001	0.000 - 0.500

ATC_SPEED_FILT: Speed control filter frequency¶

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

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_SPEED_FLTT: Speed control Target filter frequency in Hz¶

Target filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_SPEED_FLTE: Speed control Error filter frequency in Hz¶

Error filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_SPEED_FLTD: Speed control Derivative term filter frequency in Hz¶

Derivative filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_SPEED_SMAX: Speed control slew rate limit¶

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 - 200

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

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

Increment	Range	Units
0.1	0.0 - 10.0	meters per square second

ATC_BRAKE: Speed control brake enable/disable¶

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

Values

Value	Meaning
0	Disable
1	Enable

ATC_STOP_SPEED: Speed control stop speed¶

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

Increment	Range	Units
0.01	0.00 - 0.50	meters per second

ATC_STR_ANG_P: Steering control angle P gain¶

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

Increment	Range
0.1	1.000 - 10.000

ATC_STR_ACC_MAX: Steering control angular acceleration maximum¶

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

Increment	Range	Units
0.1	0 - 1000	degrees per square second

ATC_STR_RAT_MAX: Steering control rotation rate maximum¶

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

Increment	Range	Units
0.1	0 - 1000	degrees per second

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

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

Increment	Range	Units
0.1	0.0 - 10.0	meters per square second

ATC_BAL_P: Pitch control P gain¶

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

Increment	Range
0.01	0.000 - 2.000

ATC_BAL_I: Pitch control I gain¶

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

Increment	Range
0.01	0.000 - 2.000

ATC_BAL_IMAX: Pitch control I gain maximum¶

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

Increment	Range
0.01	0.000 - 1.000

ATC_BAL_D: Pitch control D gain¶

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

Increment	Range
0.001	0.000 - 0.100

ATC_BAL_FF: Pitch control feed forward¶

Pitch control feed forward

Increment	Range
0.001	0.000 - 0.500

ATC_BAL_FILT: Pitch control filter frequency¶

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

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_BAL_FLTT: Pitch control Target filter frequency in Hz¶

Target filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_BAL_FLTE: Pitch control Error filter frequency in Hz¶

Error filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_BAL_FLTD: Pitch control Derivative term filter frequency in Hz¶

Derivative filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_BAL_SMAX: Pitch control slew rate limit¶

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 - 200

ATC_BAL_SPD_FF: Pitch control feed forward from speed¶

Pitch control feed forward from speed

Increment	Range
0.01	0.0 - 10.0

ATC_SAIL_P: Sail Heel control P gain¶

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

Increment	Range
0.01	0.000 - 2.000

ATC_SAIL_I: Sail Heel control I gain¶

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

Increment	Range
0.01	0.000 - 2.000

ATC_SAIL_IMAX: Sail Heel control I gain maximum¶

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

Increment	Range
0.01	0.000 - 1.000

ATC_SAIL_D: Sail Heel control D gain¶

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

Increment	Range
0.001	0.000 - 0.100

ATC_SAIL_FF: Sail Heel control feed forward¶

Sail Heel control feed forward

Increment	Range
0.001	0.000 - 0.500

ATC_SAIL_FILT: Sail Heel control filter frequency¶

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

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_SAIL_FLTT: Sail Heel Target filter frequency in Hz¶

Target filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_SAIL_FLTE: Sail Heel Error filter frequency in Hz¶

Error filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_SAIL_FLTD: Sail Heel Derivative term filter frequency in Hz¶

Derivative filter frequency in Hz

Increment	Range	Units
0.1	0.000 - 100.000	hertz

ATC_SAIL_SMAX: Sail heel slew rate limit¶

Note: This parameter is for advanced users

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

Increment	Range
0.5	0 - 200

ATC_TURN_MAX_G: Turning maximum G force¶

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

Increment	Range	Units
0.01	0.1 - 10	standard acceleration due to gravity

AVOID_ Parameters¶

AVOID_ENABLE: Avoidance control enable/disable¶

Enabled/disable avoidance input sources

Bitmask

Bit	Meaning
0	UseFence
1	UseProximitySensor
2	UseBeaconFence

AVOID_MARGIN: Avoidance distance margin in GPS modes¶

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

Range	Units
1 - 10	meters

AVOID_BACKUP_SPD: Avoidance maximum backup speed¶

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

Range	Units
0 - 2	meters per second

AVOID_ACCEL_MAX: Avoidance maximum acceleration¶

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

Range	Units
0 - 9	meters per square second

AVOID_BACKUP_DZ: Avoidance deadzone between stopping and backing away from obstacle¶

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

Range	Units
0 - 2	meters

BARO Parameters¶

BARO1_GND_PRESS: Ground Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO_GND_TEMP: ground temperature¶

Note: This parameter is for advanced users

User provided ambient ground temperature in degrees Celsius. This is used to improve the calculation of the altitude the vehicle is at. This parameter is not persistent and will be reset to 0 every time the vehicle is rebooted. A value of 0 means use the internal measurement ambient temperature.

Increment	Units	Volatile
1	degrees Celsius	True

BARO_ALT_OFFSET: altitude offset¶

Note: This parameter is for advanced users

altitude offset in meters added to barometric altitude. This is used to allow for automatic adjustment of the base barometric altitude by a ground station equipped with a barometer. The value is added to the barometric altitude read by the aircraft. It is automatically reset to 0 when the barometer is calibrated on each reboot or when a preflight calibration is performed.

Increment	Units
0.1	meters

BARO_PRIMARY: Primary barometer¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	FirstBaro
1	2ndBaro
2	3rdBaro

BARO_EXT_BUS: External baro bus¶

Note: This parameter is for advanced users

This selects the bus number for looking for an I2C barometer. When set to -1 it will probe all external i2c buses based on the GND_PROBE_EXT parameter.

Values

Value	Meaning
-1	Disabled
0	Bus0
1	Bus1

BARO_SPEC_GRAV: Specific Gravity (For water depth measurement)¶

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

Values

Value	Meaning
1.0	Freshwater
1.024	Saltwater

BARO2_GND_PRESS: Ground Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO3_GND_PRESS: Absolute Pressure¶

Note: This parameter is for advanced users

calibrated ground pressure in Pascals

Increment	ReadOnly	Units	Volatile
1	True	pascal	True

BARO_FLTR_RNG: Range in which sample is accepted¶

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

Increment	Range	Units
1	0 - 100	percent

BARO_PROBE_EXT: External barometers to probe¶

Note: This parameter is for advanced users

This sets which types of external i2c barometer to look for. It is a bitmask of barometer types. The I2C buses to probe is based on GND_EXT_BUS. If BARO_EXT_BUS is -1 then it will probe all external buses, otherwise it will probe just the bus number given in GND_EXT_BUS.

Bitmask

Bit	Meaning
0	BMP085
1	BMP280
2	MS5611
3	MS5607
4	MS5637
5	FBM320
6	DPS280
7	LPS25H
8	Keller
9	MS5837
10	BMP388
11	SPL06
12	MSP

BARO1_DEVID: Baro ID¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO2_DEVID: Baro ID2¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO3_DEVID: Baro ID3¶

Note: This parameter is for advanced users

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

ReadOnly
True

BARO1_WCF_ Parameters¶

BARO1_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

BARO2_WCF_ Parameters¶

BARO2_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

BARO3_WCF_ Parameters¶

BARO3_WCF_ENABLE: Wind coefficient enable¶

Note: This parameter is for advanced users

This enables the use of wind coefficients for barometer compensation

Values

Value	Meaning
0	Disabled
1	Enabled

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

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

Note: This parameter is for advanced users

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

Increment	Range
0.05	-1.0 - 1.0

BATT2_ Parameters¶

BATT2_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT2_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT2_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT2_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT2_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT2_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT2_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT2_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT2_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT2_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT2_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT2__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT2_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT2_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT2_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT2_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT2__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT2_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT2_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT2_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT2_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT2_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT2_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT2_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT2_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT2_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT2_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

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	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT3_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT3_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT3_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT3_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT3_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT3_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT3_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT3_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT3_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT3_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT3__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT3_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT3_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT3_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT3_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT3__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT3_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT3_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT3_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT3_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT3_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT3_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT3_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT3_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT3_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT3_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

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	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT4_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT4_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT4_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT4_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT4_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT4_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT4_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT4_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT4_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT4_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT4__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT4_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT4_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT4_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT4_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT4__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT4_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT4_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT4_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT4_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT4_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT4_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT4_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT4_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT4_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT4_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

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	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT5_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT5_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT5_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT5_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT5_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT5_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT5_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT5_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT5_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT5_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT5__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT5_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT5_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT5_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT5_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT5__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT5_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT5_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT5_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT5_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT5_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT5_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT5_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT5_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT5_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT5_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

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	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT6_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT6_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT6_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT6_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT6_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT6_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT6_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT6_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT6_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT6_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT6__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT6_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT6_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT6_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT6_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT6__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT6_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT6_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT6_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT6_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT6_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT6_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT6_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT6_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT6_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT6_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

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	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT7_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT7_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT7_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT7_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT7_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT7_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT7_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT7_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT7_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT7_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT7__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT7_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT7_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT7_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT7_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT7__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT7_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT7_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT7_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT7_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT7_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT7_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT7_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT7_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT7_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT7_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

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	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT8_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT8_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT8_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT8_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT8_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT8_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT8_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT8_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT8_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT8_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT8__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT8_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT8_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT8_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT8_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT8__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT8_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT8_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT8_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT8_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT8_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT8_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT8_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT8_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT8_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT8_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

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	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT9_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT9_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT9_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT9_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT9_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT9_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT9_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT9_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT9_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT9_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT9__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT9_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT9_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT9_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT9_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT9__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT9_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT9_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT9_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT9_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT9_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT9_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT9_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT9_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT9_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT9_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BATT_ Parameters¶

BATT_MONITOR: Battery monitoring¶

Note: Reboot required after change

Controls enabling monitoring of the battery’s voltage and current

Values

Value	Meaning
0	Disabled
3	Analog Voltage Only
4	Analog Voltage and Current
5	Solo
6	Bebop
7	SMBus-Generic
8	UAVCAN-BatteryInfo
9	ESC
10	SumOfFollowing
11	FuelFlow
12	FuelLevelPWM
13	SMBUS-SUI3
14	SMBUS-SUI6
15	NeoDesign
16	SMBus-Maxell
17	Generator-Elec
18	Generator-Fuel
19	Rotoye
20	MPPT
21	INA2XX
22	LTC2946
23	Torqeedo

BATT_CAPACITY: Battery capacity¶

Capacity of the battery in mAh when full

Increment	Units
50	milliampere hour

BATT_SERIAL_NUM: Battery serial number¶

Note: This parameter is for advanced users

Battery serial number, automatically filled in for SMBus batteries, otherwise will be -1. With UAVCAN it is the battery_id.

BATT_LOW_TIMER: Low voltage timeout¶

Note: This parameter is for advanced users

This is the timeout in seconds before a low voltage event will be triggered. For aircraft with low C batteries it may be necessary to raise this in order to cope with low voltage on long takeoffs. A value of zero disables low voltage errors.

Increment	Range	Units
1	0 - 120	seconds

BATT_FS_VOLTSRC: Failsafe voltage source¶

Note: This parameter is for advanced users

Voltage type used for detection of low voltage event

Values

Value	Meaning
0	Raw Voltage
1	Sag Compensated Voltage

BATT_LOW_VOLT: Low battery voltage¶

Battery voltage that triggers a low battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.

Increment	Units
0.1	volt

BATT_LOW_MAH: Low battery capacity¶

Battery capacity at which the low battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT_FS_LOW_ACT parameter.

Increment	Units
50	milliampere hour

BATT_CRT_VOLT: Critical battery voltage¶

Battery voltage that triggers a critical battery failsafe. Set to 0 to disable. If the battery voltage drops below this voltage continuously for more then the period specified by the BATT_LOW_TIMER parameter then the vehicle will perform the failsafe specified by the BATT_FS_CRT_ACT parameter.

Increment	Units
0.1	volt

BATT_CRT_MAH: Battery critical capacity¶

Battery capacity at which the critical battery failsafe is triggered. Set to 0 to disable battery remaining failsafe. If the battery capacity drops below this level the vehicle will perform the failsafe specified by the BATT__FS_CRT_ACT parameter.

Increment	Units
50	milliampere hour

BATT_FS_LOW_ACT: Low battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT_FS_CRT_ACT: Critical battery failsafe action¶

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

Values

Value	Meaning
0	None
1	RTL
2	Hold
3	SmartRTL
4	SmartRTL or Hold
5	Terminate

BATT_ARM_VOLT: Required arming voltage¶

Note: This parameter is for advanced users

Battery voltage level which is required to arm the aircraft. Set to 0 to allow arming at any voltage.

Increment	Units
0.1	volt

BATT_ARM_MAH: Required arming remaining capacity¶

Note: This parameter is for advanced users

Battery capacity remaining which is required to arm the aircraft. Set to 0 to allow arming at any capacity. Note that execept for smart batteries rebooting the vehicle will always reset the remaining capacity estimate, which can lead to this check not providing sufficent protection, it is recommended to always use this in conjunction with the BATT__ARM_VOLT parameter.

Increment	Units
50	milliampere hour

BATT_OPTIONS: Battery monitor options¶

Note: This parameter is for advanced users

This sets options to change the behaviour of the battery monitor

Bitmask

Bit	Meaning
0	Ignore UAVCAN SoC

BATT_VOLT_PIN: Battery Voltage sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
2	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
5	Navigator
13	Pixhawk2_PM2/CubeOrange_PM2
14	CubeOrange
16	Durandal
100	PX4-v1

BATT_CURR_PIN: Battery Current sensing pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
3	Pixhawk/Pixracer/Navio2/Pixhawk2_PM1
4	CubeOrange_PM2/Navigator
14	Pixhawk2_PM2
15	CubeOrange
17	Durandal
101	PX4-v1

BATT_VOLT_MULT: Voltage Multiplier¶

Note: This parameter is for advanced users

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

BATT_AMP_PERVLT: Amps per volt¶

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

Units
ampere per volt

BATT_AMP_OFFSET: AMP offset¶

Voltage offset at zero current on current sensor

Units
volt

BATT_VLT_OFFSET: Volage offset¶

Note: This parameter is for advanced users

Voltage offset on voltage pin. This allows for an offset due to a diode. This voltage is subtracted before the scaling is applied

Units
volt

BATT_I2C_BUS: Battery monitor I2C bus number¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C bus number

Range
0 - 3

BATT_I2C_ADDR: Battery monitor I2C address¶

Note: This parameter is for advanced users

Note: Reboot required after change

Battery monitor I2C address

Range
0 - 127

BATT_SUM_MASK: Battery Sum mask¶

0: sum of remaining battery monitors, If none 0 sum of specified monitors. Current will be summed and voltages averaged.

Bitmask

Bit	Meaning
0	monitor 1
1	monitor 2
2	monitor 3
3	monitor 4
4	monitor 5
5	monitor 6
6	monitor 7
7	monitor 8
8	monitor 9

BCN Parameters¶

BCN_TYPE: Beacon based position estimation device type¶

Note: This parameter is for advanced users

What type of beacon based position estimation device is connected

Values

Value	Meaning
0	None
1	Pozyx
2	Marvelmind
3	Nooploop
10	SITL

BCN_LATITUDE: Beacon origin’s latitude¶

Note: This parameter is for advanced users

Beacon origin’s latitude

Increment	Range	Units
0.000001	-90 - 90	degrees

BCN_LONGITUDE: Beacon origin’s longitude¶

Note: This parameter is for advanced users

Beacon origin’s longitude

Increment	Range	Units
0.000001	-180 - 180	degrees

BCN_ALT: Beacon origin’s altitude above sealevel in meters¶

Note: This parameter is for advanced users

Beacon origin’s altitude above sealevel in meters

Increment	Range	Units
1	0 - 10000	meters

BCN_ORIENT_YAW: Beacon systems rotation from north in degrees¶

Note: This parameter is for advanced users

Beacon systems rotation from north in degrees

Increment	Range	Units
1	-180 - +180	degrees

BRD_ Parameters¶

BRD_SER1_RTSCTS: Serial 1 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 1 (telemetry 1). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup. Note that the PX4v1 does not have hardware flow control pins on this port, so you should leave this disabled.

Values

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SER2_RTSCTS: Serial 2 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 2 (telemetry 2). You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

Values

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SER3_RTSCTS: Serial 3 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 3. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

Values

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SER4_RTSCTS: Serial 4 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 4. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

Values

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SER5_RTSCTS: Serial 5 flow control¶

Note: This parameter is for advanced users

Note: Reboot required after change

Enable flow control on serial 5. You must have the RTS and CTS pins connected to your radio. The standard DF13 6 pin connector for a 3DR radio does have those pins connected. If this is set to 2 then flow control will be auto-detected by checking for the output buffer filling on startup.

Values

Value	Meaning
0	Disabled
1	Enabled
2	Auto

BRD_SAFETYENABLE: Enable use of safety arming switch¶

Note: Reboot required after change

This controls the default state of the safety switch at startup. When set to 1 the safety switch will start in the safe state (flashing) at boot. When set to zero the safety switch will start in the unsafe state (solid) at startup. Note that if a safety switch is fitted the user can still control the safety state after startup using the switch. The safety state can also be controlled in software using a MAVLink message.

Values

Value	Meaning
0	Disabled
1	Enabled

BRD_SBUS_OUT: SBUS output rate¶

Note: This parameter is for advanced users

Note: Reboot required after change

This sets the SBUS output frame rate in Hz

Values

Value	Meaning
0	Disabled
1	50Hz
2	75Hz
3	100Hz
4	150Hz
5	200Hz
6	250Hz
7	300Hz

BRD_SERIAL_NUM: User-defined serial number¶

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

Range
-32768 - 32767

BRD_SAFETY_MASK: Outputs which ignore the safety switch state¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Bitmask

Bit	Meaning
0	Output1
1	Output2
2	Output3
3	Output4
4	Output5
5	Output6
6	Output7
7	Output8
8	Output9
9	Output10
10	Output11
11	Output12
12	Output13
13	Output14

BRD_HEAT_TARG: Board heater temperature target¶

Note: This parameter is for advanced users

Board heater target temperature for boards with controllable heating units. DO NOT SET to -1 on the Cube. Set to -1 to disable the heater, please reboot after setting to -1.

Range	Units
-1 - 80	degrees Celsius

BRD_TYPE: Board type¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	AUTO
1	PX4V1
2	Pixhawk
3	Cube/Pixhawk2
4	Pixracer
5	PixhawkMini
6	Pixhawk2Slim
13	Intel Aero FC
14	Pixhawk Pro
20	AUAV2.1
21	PCNC1
22	MINDPXV2
23	SP01
24	CUAVv5/FMUV5
30	VRX BRAIN51
32	VRX BRAIN52
33	VRX BRAIN52E
34	VRX UBRAIN51
35	VRX UBRAIN52
36	VRX CORE10
38	VRX BRAIN54
39	PX4 FMUV6
100	PX4 OLDDRIVERS

BRD_IO_ENABLE: Enable IO co-processor¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	Enabled

BRD_SAFETYOPTION: Options for safety button behavior¶

This controls the activation of the safety button. It allows you to control if the safety button can be used for safety enable and/or disable, and whether the button is only active when disarmed

Bitmask

Bit	Meaning
0	ActiveForSafetyEnable
1	ActiveForSafetyDisable
2	ActiveWhenArmed
3	Force safety on when the aircraft disarms

BRD_VBUS_MIN: Autopilot board voltage requirement¶

Note: This parameter is for advanced users

Minimum voltage on the autopilot power rail to allow the aircraft to arm. 0 to disable the check.

Increment	Range	Units
0.1	4.0 - 5.5	volt

BRD_VSERVO_MIN: Servo voltage requirement¶

Note: This parameter is for advanced users

Minimum voltage on the servo rail to allow the aircraft to arm. 0 to disable the check.

Increment	Range	Units
0.1	3.3 - 12.0	volt

BRD_SD_SLOWDOWN: microSD slowdown¶

Note: This parameter is for advanced users

This is a scaling factor to slow down microSD operation. It can be used on flight board and microSD card combinations where full speed is not reliable. For normal full speed operation a value of 0 should be used.

Increment	Range
1	0 - 32

BRD_PWM_VOLT_SEL: Set PWM Out Voltage¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	3.3V
1	5V

BRD_OPTIONS: Board options¶

Note: This parameter is for advanced users

Board specific option flags

Bitmask

Bit	Meaning
0	Enable hardware watchdog
1	Disable MAVftp
2	Enable set of internal parameters

BRD_BOOT_DELAY: Boot delay¶

Note: This parameter is for advanced users

This adds a delay in milliseconds to boot to ensure peripherals initialise fully

Range	Units
0 - 10000	milliseconds

BRD_HEAT_P: Board Heater P gain¶

Note: This parameter is for advanced users

Board Heater P gain

Increment	Range
1	1 - 500

BRD_HEAT_I: Board Heater I gain¶

Note: This parameter is for advanced users

Board Heater integrator gain

Increment	Range
0.1	0 - 1

BRD_HEAT_IMAX: Board Heater IMAX¶

Note: This parameter is for advanced users

Board Heater integrator maximum

Increment	Range
1	0 - 100

BRD_ALT_CONFIG: Alternative HW config¶

Note: This parameter is for advanced users

Note: Reboot required after change

Select an alternative hardware configuration. A value of zero selects the default configuration for this board. Other values are board specific. Please see the documentation for your board for details on any alternative configuration values that may be available.

Increment	Range
1	0 - 10

BRD_HEAT_LOWMGN: Board heater temp lower margin¶

Note: This parameter is for advanced users

Arming check will fail if temp is lower than this margin below BRD_HEAT_TARG. 0 disables the low temperature check

Range	Units
0 - 20	degrees Celsius

BRD_RADIO Parameters¶

BRD_RADIO_TYPE: Set type of direct attached radio¶

This enables support for direct attached radio receivers

Values

Value	Meaning
0	None
1	CYRF6936
2	CC2500
3	BK2425

BRD_RADIO_PROT: protocol¶

Note: This parameter is for advanced users

Select air protocol

Values

Value	Meaning
0	Auto
1	DSM2
2	DSMX

BRD_RADIO_DEBUG: debug level¶

Note: This parameter is for advanced users

radio debug level

Range
0 - 4

BRD_RADIO_DISCRC: disable receive CRC¶

Note: This parameter is for advanced users

disable receive CRC (for debug)

Values

Value	Meaning
0	NotDisabled
1	Disabled

BRD_RADIO_SIGCH: RSSI signal strength¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_PPSCH: Packet rate channel¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TELEM: Enable telemetry¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

BRD_RADIO_TXPOW: Telemetry Transmit power¶

Note: This parameter is for advanced users

Set telemetry transmit power. This is the power level (from 1 to 8) for telemetry packets sent from the RX to the TX

Range
1 - 8

BRD_RADIO_FCCTST: Put radio into FCC test mode¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	MinChannel
2	MidChannel
3	MaxChannel
4	MinChannelCW
5	MidChannelCW
6	MaxChannelCW

BRD_RADIO_STKMD: Stick input mode¶

Note: This parameter is for advanced users

This selects between different stick input modes. The default is mode2, which has throttle on the left stick and pitch on the right stick. You can instead set mode1, which has throttle on the right stick and pitch on the left stick.

Values

Value	Meaning
1	Mode1
2	Mode2

BRD_RADIO_TESTCH: Set radio to factory test channel¶

Note: This parameter is for advanced users

This sets the radio to a fixed test channel for factory testing. Using a fixed channel avoids the need for binding in factory testing.

Values

Value	Meaning
0	Disabled
1	TestChan1
2	TestChan2
3	TestChan3
4	TestChan4
5	TestChan5
6	TestChan6
7	TestChan7
8	TestChan8

BRD_RADIO_TSIGCH: RSSI value channel for telemetry data on transmitter¶

Note: This parameter is for advanced users

Channel to show telemetry RSSI value as received by TX

Range
0 - 16

BRD_RADIO_TPPSCH: Telemetry PPS channel¶

Note: This parameter is for advanced users

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

Range
0 - 16

BRD_RADIO_TXMAX: Transmitter transmit power¶

Note: This parameter is for advanced users

Set transmitter maximum transmit power (from 1 to 8)

Range
1 - 8

BRD_RADIO_BZOFS: Transmitter buzzer adjustment¶

Note: This parameter is for advanced users

Set transmitter buzzer note adjustment (adjust frequency up)

Range
0 - 40

BRD_RADIO_ABTIME: Auto-bind time¶

Note: This parameter is for advanced users

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

Range
0 - 120

BRD_RADIO_ABLVL: Auto-bind level¶

Note: This parameter is for advanced users

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

Range
0 - 31

BRD_RTC Parameters¶

BRD_RTC_TYPES: Allowed sources of RTC time¶

Note: This parameter is for advanced users

Specifies which sources of UTC time will be accepted

Bitmask

Bit	Meaning
0	GPS
1	MAVLINK_SYSTEM_TIME
2	HW

BRD_RTC_TZ_MIN: Timezone offset from UTC¶

Note: This parameter is for advanced users

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

Range
-720 - +840

BTN_ Parameters¶

BTN_ENABLE: Enable button reporting¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

BTN_PIN1: First button Pin¶

Digital pin number for first button input.

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN2: Second button Pin¶

Digital pin number for second button input.

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN3: Third button Pin¶

Digital pin number for third button input.

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_PIN4: Fourth button Pin¶

Digital pin number for fourth button input.

Values

Value	Meaning
-1	Disabled
50	AUXOUT1
51	AUXOUT2
52	AUXOUT3
53	AUXOUT4
54	AUXOUT5
55	AUXOUT6

BTN_REPORT_SEND: Report send time¶

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

Range
0 - 3600

BTN_OPTIONS1: Button Pin 1 Options¶

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

Bitmask

Bit	Meaning
0	PWM Input
1	InvertInput

BTN_OPTIONS2: Button Pin 2 Options¶

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

Bitmask

Bit	Meaning
0	PWM Input
1	InvertInput

BTN_OPTIONS3: Button Pin 3 Options¶

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

Bitmask

Bit	Meaning
0	PWM Input
1	InvertInput

BTN_OPTIONS4: Button Pin 4 Options¶

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

Bitmask

Bit	Meaning
0	PWM Input
1	InvertInput

BTN_FUNC1: Button Pin 1 RC Channel function¶

Auxiliary RC Options function executed on pin change

Values

Value	Meaning
0	Do Nothing
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
11	Fence
16	Auto
19	Gripper
24	Auto Mission Reset
27	Retract Mount
28	Relay On/Off
30	Lost Rover Sound
31	Motor Emergency Stop
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
40	Proximity Avoidance
42	SmartRTL
46	RC Override Enable
50	LearnCruise
51	Manual
52	Acro
53	Steering
54	Hold
55	Guided
56	Loiter
57	Follow
58	Clear Waypoints
59	Simple Mode
62	Compass Learn
63	Sailboat Tack
65	GPS Disable
66	Relay5 On/Off
67	Relay6 On/Off
74	Sailboat motoring 3pos
78	RunCam Control
79	RunCam OSD Control
80	Viso Align
81	Disarm
90	EKF Pos Source
94	VTX Power
97	Windvane home heading direction offset
100	KillIMU1
101	KillIMU2
102	Camera Mode Toggle
105	GPS Disable Yaw
106	Disable Airspeed Use
153	ArmDisarm
201	Roll
202	Pitch
203	Walking Height
207	MainSail
208	Flap
300	Scripting1
301	Scripting2
302	Scripting3
303	Scripting4
304	Scripting5
305	Scripting6
306	Scripting7
307	Scripting8

BTN_FUNC2: Button Pin 2 RC Channel function¶

Auxiliary RC Options function executed on pin change

Values

Value	Meaning
0	Do Nothing
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
11	Fence
16	Auto
19	Gripper
24	Auto Mission Reset
27	Retract Mount
28	Relay On/Off
30	Lost Rover Sound
31	Motor Emergency Stop
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
40	Proximity Avoidance
42	SmartRTL
46	RC Override Enable
50	LearnCruise
51	Manual
52	Acro
53	Steering
54	Hold
55	Guided
56	Loiter
57	Follow
58	Clear Waypoints
59	Simple Mode
62	Compass Learn
63	Sailboat Tack
65	GPS Disable
66	Relay5 On/Off
67	Relay6 On/Off
74	Sailboat motoring 3pos
78	RunCam Control
79	RunCam OSD Control
80	Viso Align
81	Disarm
90	EKF Pos Source
94	VTX Power
97	Windvane home heading direction offset
100	KillIMU1
101	KillIMU2
102	Camera Mode Toggle
105	GPS Disable Yaw
106	Disable Airspeed Use
153	ArmDisarm
201	Roll
202	Pitch
203	Walking Height
207	MainSail
208	Flap
300	Scripting1
301	Scripting2
302	Scripting3
303	Scripting4
304	Scripting5
305	Scripting6
306	Scripting7
307	Scripting8

BTN_FUNC3: Button Pin 3 RC Channel function¶

Auxiliary RC Options function executed on pin change

Values

Value	Meaning
0	Do Nothing
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
11	Fence
16	Auto
19	Gripper
24	Auto Mission Reset
27	Retract Mount
28	Relay On/Off
30	Lost Rover Sound
31	Motor Emergency Stop
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
40	Proximity Avoidance
42	SmartRTL
46	RC Override Enable
50	LearnCruise
51	Manual
52	Acro
53	Steering
54	Hold
55	Guided
56	Loiter
57	Follow
58	Clear Waypoints
59	Simple Mode
62	Compass Learn
63	Sailboat Tack
65	GPS Disable
66	Relay5 On/Off
67	Relay6 On/Off
74	Sailboat motoring 3pos
78	RunCam Control
79	RunCam OSD Control
80	Viso Align
81	Disarm
90	EKF Pos Source
94	VTX Power
97	Windvane home heading direction offset
100	KillIMU1
101	KillIMU2
102	Camera Mode Toggle
105	GPS Disable Yaw
106	Disable Airspeed Use
153	ArmDisarm
201	Roll
202	Pitch
203	Walking Height
207	MainSail
208	Flap
300	Scripting1
301	Scripting2
302	Scripting3
303	Scripting4
304	Scripting5
305	Scripting6
306	Scripting7
307	Scripting8

BTN_FUNC4: Button Pin 4 RC Channel function¶

Auxiliary RC Options function executed on pin change

Values

Value	Meaning
0	Do Nothing
4	RTL
5	Save Trim
7	Save WP
9	Camera Trigger
11	Fence
16	Auto
19	Gripper
24	Auto Mission Reset
27	Retract Mount
28	Relay On/Off
30	Lost Rover Sound
31	Motor Emergency Stop
34	Relay2 On/Off
35	Relay3 On/Off
36	Relay4 On/Off
40	Proximity Avoidance
42	SmartRTL
46	RC Override Enable
50	LearnCruise
51	Manual
52	Acro
53	Steering
54	Hold
55	Guided
56	Loiter
57	Follow
58	Clear Waypoints
59	Simple Mode
62	Compass Learn
63	Sailboat Tack
65	GPS Disable
66	Relay5 On/Off
67	Relay6 On/Off
74	Sailboat motoring 3pos
78	RunCam Control
79	RunCam OSD Control
80	Viso Align
81	Disarm
90	EKF Pos Source
94	VTX Power
97	Windvane home heading direction offset
100	KillIMU1
101	KillIMU2
102	Camera Mode Toggle
105	GPS Disable Yaw
106	Disable Airspeed Use
153	ArmDisarm
201	Roll
202	Pitch
203	Walking Height
207	MainSail
208	Flap
300	Scripting1
301	Scripting2
302	Scripting3
303	Scripting4
304	Scripting5
305	Scripting6
306	Scripting7
307	Scripting8

CAM_ Parameters¶

CAM_TRIGG_TYPE: Camera shutter (trigger) type¶

how to trigger the camera to take a picture

Values

Value	Meaning
0	Servo
1	Relay
2	GoPro in Solo Gimbal

CAM_DURATION: Duration that shutter is held open¶

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

Range	Units
0 - 50	deciseconds

CAM_SERVO_ON: Servo ON PWM value¶

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

Range	Units
1000 - 2000	PWM in microseconds

CAM_SERVO_OFF: Servo OFF PWM value¶

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

Range	Units
1000 - 2000	PWM in microseconds

CAM_TRIGG_DIST: Camera trigger distance¶

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

Range	Units
0 - 1000	meters

CAM_RELAY_ON: Relay ON value¶

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

Values

Value	Meaning
0	Low
1	High

CAM_MIN_INTERVAL: Minimum time between photos¶

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

Range	Units
0 - 10000	milliseconds

CAM_MAX_ROLL: Maximum photo roll angle.¶

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

Range	Units
0 - 180	degrees

CAM_FEEDBACK_PIN: Camera feedback pin¶

Note: Reboot required after change

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

Values

Value	Meaning
-1	Disabled
50	AUX1
51	AUX2
52	AUX3
53	AUX4
54	AUX5
55	AUX6

CAM_FEEDBACK_POL: Camera feedback pin polarity¶

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

Values

Value	Meaning
0	TriggerLow
1	TriggerHigh

CAM_AUTO_ONLY: Distance-trigging in AUTO mode only¶

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

Values

Value	Meaning
0	Always
1	Only when in AUTO

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

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

Values

Value	Meaning
0	Default
1	BMMCC

CAM_RC_ Parameters¶

CAM_RC_TYPE: RunCam device type¶

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

Values

Value	Meaning
0	Disabled
1	RunCam Split Micro/RunCam with UART
2	RunCam Split
3	RunCam Split4 4k
4	RunCam Hybrid

CAM_RC_FEATURES: RunCam features available¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Power Button
1	WiFi Button
2	Change Mode
3	5-Key OSD
4	Settings Access
5	DisplayPort
6	Start Recording
7	Stop Recording

CAM_RC_BT_DELAY: RunCam boot delay before allowing updates¶

Note: This parameter is for advanced users

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

CAM_RC_BTN_DELAY: RunCam button delay before allowing further button presses¶

Note: This parameter is for advanced users

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

CAM_RC_MDE_DELAY: RunCam mode delay before allowing further button presses¶

Note: This parameter is for advanced users

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

CAM_RC_CONTROL: RunCam control option¶

Note: This parameter is for advanced users

Specifies the allowed actions required to enter the OSD menu

Bitmask

Bit	Meaning
0	Stick yaw right
1	Stick roll right
2	3-position switch
3	2-position switch
4	Autorecording enabled

CAN_ Parameters¶

CAN_LOGLEVEL: Loglevel¶

Note: This parameter is for advanced users

Loglevel for recording initialisation and debug information from CAN Interface

Range

Values

0 - 4

Value	Meaning
0	Log None
1	Log Error
2	Log Warning and below
3	Log Info and below
4	Log Everything

CAN_D1_ Parameters¶

CAN_D1_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	UAVCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
9	PacketDigital
10	Scripting
11	Benewake

CAN_D1_KDE_ Parameters¶

CAN_D1_KDE_NPOLE: Number of motor poles¶

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

CAN_D1_PC_ Parameters¶

CAN_D1_PC_ESC_BM: ESC channels¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D1_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 - 500	hertz

CAN_D1_PC_SRV_BM: Servo channels¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15
15	Servo 16

CAN_D1_PC_SRV_RT: Servo command output rate¶

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 - 500	hertz

CAN_D1_TST_ Parameters¶

CAN_D1_TST_ID: CAN Test Index¶

Note: This parameter is for advanced users

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

Range

Values

0 - 4

Value	Meaning
0	TEST_NONE
1	TEST_LOOPBACK
2	TEST_BUSOFF_RECOVERY
3	TEST_UAVCAN_DNA
4	TEST_TOSHIBA_CAN
5	TEST_KDE_CAN
6	TEST_UAVCAN_ESC

CAN_D1_TST_LPR8: CANTester LoopRate¶

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D1_UC_ Parameters¶

CAN_D1_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D1_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15

CAN_D1_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D1_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D1_UC_OPTION: UAVCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts

CAN_D1_UC_NTF_RT: Notify State rate¶

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 - 200	hertz

CAN_D2_ Parameters¶

CAN_D2_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	UAVCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
9	PacketDigital
10	Scripting
11	Benewake

CAN_D2_KDE_ Parameters¶

CAN_D2_KDE_NPOLE: Number of motor poles¶

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

CAN_D2_PC_ Parameters¶

CAN_D2_PC_ESC_BM: ESC channels¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D2_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 - 500	hertz

CAN_D2_PC_SRV_BM: Servo channels¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15
15	Servo 16

CAN_D2_PC_SRV_RT: Servo command output rate¶

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 - 500	hertz

CAN_D2_TST_ Parameters¶

CAN_D2_TST_ID: CAN Test Index¶

Note: This parameter is for advanced users

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

Range

Values

0 - 4

Value	Meaning
0	TEST_NONE
1	TEST_LOOPBACK
2	TEST_BUSOFF_RECOVERY
3	TEST_UAVCAN_DNA
4	TEST_TOSHIBA_CAN
5	TEST_KDE_CAN
6	TEST_UAVCAN_ESC

CAN_D2_TST_LPR8: CANTester LoopRate¶

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D2_UC_ Parameters¶

CAN_D2_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D2_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15

CAN_D2_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D2_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D2_UC_OPTION: UAVCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts

CAN_D2_UC_NTF_RT: Notify State rate¶

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 - 200	hertz

CAN_D3_ Parameters¶

CAN_D3_PROTOCOL: Enable use of specific protocol over virtual driver¶

Note: This parameter is for advanced users

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	UAVCAN
3	ToshibaCAN
4	PiccoloCAN
5	CANTester
6	EFI_NWPMU
7	USD1
8	KDECAN
9	PacketDigital
10	Scripting
11	Benewake

CAN_D3_KDE_ Parameters¶

CAN_D3_KDE_NPOLE: Number of motor poles¶

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

CAN_D3_PC_ Parameters¶

CAN_D3_PC_ESC_BM: ESC channels¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D3_PC_ESC_RT: ESC output rate¶

Note: This parameter is for advanced users

Output rate of ESC command messages

Range	Units
1 - 500	hertz

CAN_D3_PC_SRV_BM: Servo channels¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15
15	Servo 16

CAN_D3_PC_SRV_RT: Servo command output rate¶

Note: This parameter is for advanced users

Output rate of servo command messages

Range	Units
1 - 500	hertz

CAN_D3_TST_ Parameters¶

CAN_D3_TST_ID: CAN Test Index¶

Note: This parameter is for advanced users

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

Range

Values

0 - 4

Value	Meaning
0	TEST_NONE
1	TEST_LOOPBACK
2	TEST_BUSOFF_RECOVERY
3	TEST_UAVCAN_DNA
4	TEST_TOSHIBA_CAN
5	TEST_KDE_CAN
6	TEST_UAVCAN_ESC

CAN_D3_TST_LPR8: CANTester LoopRate¶

Note: This parameter is for advanced users

Selects the Looprate of Test methods

Units
microseconds

CAN_D3_UC_ Parameters¶

CAN_D3_UC_NODE: UAVCAN node that is used for this network¶

Note: This parameter is for advanced users

UAVCAN node should be set implicitly

Range
1 - 250

CAN_D3_UC_SRV_BM: RC Out channels to be transmitted as servo over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	Servo 1
1	Servo 2
2	Servo 3
3	Servo 4
4	Servo 5
5	Servo 6
6	Servo 7
7	Servo 8
8	Servo 9
9	Servo 10
10	Servo 11
11	Servo 12
12	Servo 13
13	Servo 14
14	Servo 15

CAN_D3_UC_ESC_BM: RC Out channels to be transmitted as ESC over UAVCAN¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	ESC 1
1	ESC 2
2	ESC 3
3	ESC 4
4	ESC 5
5	ESC 6
6	ESC 7
7	ESC 8
8	ESC 9
9	ESC 10
10	ESC 11
11	ESC 12
12	ESC 13
13	ESC 14
14	ESC 15
15	ESC 16

CAN_D3_UC_SRV_RT: Servo output rate¶

Note: This parameter is for advanced users

Maximum transmit rate for servo outputs

Range	Units
1 - 200	hertz

CAN_D3_UC_OPTION: UAVCAN options¶

Note: This parameter is for advanced users

Option flags

Bitmask

Bit	Meaning
0	ClearDNADatabase
1	IgnoreDNANodeConflicts

CAN_D3_UC_NTF_RT: Notify State rate¶

Note: This parameter is for advanced users

Maximum transmit rate for Notify State Message

Range	Units
1 - 200	hertz

CAN_P1_ Parameters¶

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value	Meaning
0	Disabled
1	First driver
2	Second driver
3	Third driver

CAN_P1_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P2_ Parameters¶

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value	Meaning
0	Disabled
1	First driver
2	Second driver
3	Third driver

CAN_P2_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_P3_ Parameters¶

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

Note: Reboot required after change

Enabling this option enables use of CAN buses.

Values

Value	Meaning
0	Disabled
1	First driver
2	Second driver
3	Third driver

CAN_P3_BITRATE: Bitrate of CAN interface¶

Note: This parameter is for advanced users

Bit rate can be set up to from 10000 to 1000000

Range
10000 - 1000000

CAN_SLCAN_ Parameters¶

CAN_SLCAN_CPORT: SLCAN Route¶

Note: Reboot required after change

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

Values

Value	Meaning
0	Disabled
1	First interface
2	Second interface

CAN_SLCAN_SERNUM: SLCAN Serial Port¶

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

Values

Value	Meaning
-1	Disabled
0	Serial0
1	Serial1
2	Serial2
3	Serial3
4	Serial4
5	Serial5
6	Serial6

CAN_SLCAN_TIMOUT: SLCAN Timeout¶

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

Range
0 - 127

CAN_SLCAN_SDELAY: SLCAN Start Delay¶

Duration after which slcan starts after setting SERNUM in seconds.

Range
0 - 127

COMPASS_ Parameters¶

COMPASS_OFS_X: Compass offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS_Y: Compass offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS_Z: Compass offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

COMPASS_DEC: Compass declination¶

An angle to compensate between the true north and magnetic north

Increment	Range	Units
0.01	-3.142 - 3.142	radians

COMPASS_LEARN: Learn compass offsets automatically¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Internal-Learning
2	EKF-Learning
3	InFlight-Learning

COMPASS_USE: Use compass for yaw¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_AUTODEC: Auto Declination¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_MOTCT: Motor interference compensation type¶

Note: This parameter is for advanced users

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

Calibration

Values

1

Value	Meaning
0	Disabled
1	Use Throttle
2	Use Current

COMPASS_MOT_X: Motor interference compensation for body frame X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-1000 - 1000	milligauss per ampere

COMPASS_MOT_Y: Motor interference compensation for body frame Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-1000 - 1000	milligauss per ampere

COMPASS_MOT_Z: Motor interference compensation for body frame Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_ORIENT: Compass orientation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Yaw45Roll180
10	Yaw90Roll180
11	Yaw135Roll180
12	Pitch180
13	Yaw225Roll180
14	Yaw270Roll180
15	Yaw315Roll180
16	Roll90
17	Yaw45Roll90
18	Yaw90Roll90
19	Yaw135Roll90
20	Roll270
21	Yaw45Roll270
22	Yaw90Roll270
23	Yaw135Roll270
24	Pitch90
25	Pitch270
26	Yaw90Pitch180
27	Yaw270Pitch180
28	Pitch90Roll90
29	Pitch90Roll180
30	Pitch90Roll270
31	Pitch180Roll90
32	Pitch180Roll270
33	Pitch270Roll90
34	Pitch270Roll180
35	Pitch270Roll270
36	Yaw90Pitch180Roll90
37	Yaw270Roll90
38	Yaw293Pitch68Roll180
39	Pitch315
40	Pitch315Roll90
42	Roll45
43	Roll315
100	Custom

COMPASS_EXTERNAL: Compass is attached via an external cable¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_OFS2_X: Compass2 offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS2_Y: Compass2 offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS2_Z: Compass2 offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

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

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-1000 - 1000	milligauss per ampere

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

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-1000 - 1000	milligauss per ampere

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_OFS3_X: Compass3 offsets in milligauss on the X axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS3_Y: Compass3 offsets in milligauss on the Y axis¶

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-400 - 400	milligauss

COMPASS_OFS3_Z: Compass3 offsets in milligauss on the Z axis¶

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-400 - 400	milligauss

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

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-1000 - 1000	milligauss per ampere

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

Note: This parameter is for advanced users

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

Calibration	Increment	Range	Units
1	1	-1000 - 1000	milligauss per ampere

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

Note: This parameter is for advanced users

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

Increment	Range	Units
1	-1000 - 1000	milligauss per ampere

COMPASS_DEV_ID: Compass device id¶

Note: This parameter is for advanced users

Compass device id. Automatically detected, do not set manually

ReadOnly
True

COMPASS_DEV_ID2: Compass2 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_DEV_ID3: Compass3 device id¶

Note: This parameter is for advanced users

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

ReadOnly
True

COMPASS_USE2: Compass2 used for yaw¶

Note: This parameter is for advanced users

Enable or disable the secondary compass for determining heading.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_ORIENT2: Compass2 orientation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315
42	Roll45
43	Roll315
100	Custom

COMPASS_EXTERN2: Compass2 is attached via an external cable¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_USE3: Compass3 used for yaw¶

Note: This parameter is for advanced users

Enable or disable the tertiary compass for determining heading.

Values

Value	Meaning
0	Disabled
1	Enabled

COMPASS_ORIENT3: Compass3 orientation¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	None
1	Yaw45
2	Yaw90
3	Yaw135
4	Yaw180
5	Yaw225
6	Yaw270
7	Yaw315
8	Roll180
9	Roll180Yaw45
10	Roll180Yaw90
11	Roll180Yaw135
12	Pitch180
13	Roll180Yaw225
14	Roll180Yaw270
15	Roll180Yaw315
16	Roll90
17	Roll90Yaw45
18	Roll90Yaw90
19	Roll90Yaw135
20	Roll270
21	Roll270Yaw45
22	Roll270Yaw90
23	Roll270Yaw135
24	Pitch90
25	Pitch270
26	Pitch180Yaw90
27	Pitch180Yaw270
28	Roll90Pitch90
29	Roll180Pitch90
30	Roll270Pitch90
31	Roll90Pitch180
32	Roll270Pitch180
33	Roll90Pitch270
34	Roll180Pitch270
35	Roll270Pitch270
36	Roll90Pitch180Yaw90
37	Roll90Yaw270
38	Yaw293Pitch68Roll180
39	Pitch315
40	Roll90Pitch315
42	Roll45
43	Roll315
100	Custom

COMPASS_EXTERN3: Compass3 is attached via an external cable¶

Note: This parameter is for advanced users

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

Values

Value	Meaning
0	Internal
1	External
2	ForcedExternal

COMPASS_DIA_X: Compass soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Y: Compass soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA_Z: Compass soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI_X: Compass soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Y: Compass soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI_Z: Compass soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_DIA2_X: Compass2 soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Y: Compass2 soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA2_Z: Compass2 soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI2_X: Compass2 soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Y: Compass2 soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI2_Z: Compass2 soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_DIA3_X: Compass3 soft-iron diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Y: Compass3 soft-iron diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_DIA3_Z: Compass3 soft-iron diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_ODI3_X: Compass3 soft-iron off-diagonal X component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Y: Compass3 soft-iron off-diagonal Y component¶

Note: This parameter is for advanced users

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

Calibration
1

COMPASS_ODI3_Z: Compass3 soft-iron off-diagonal Z component¶

Note: This parameter is for advanced users

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

COMPASS_CAL_FIT: Compass calibration fitness¶

Note: This parameter is for advanced users

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

Increment

Range

Values

0.1

4 - 32

Value	Meaning
4	Very Strict
8	Strict
16	Default
32	Relaxed

COMPASS_OFFS_MAX: Compass maximum offset¶

Note: This parameter is for advanced users

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

Increment	Range
1	500 - 3000

COMPASS_TYPEMASK: Compass disable driver type mask¶

Note: This parameter is for advanced users

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

Bitmask

Bit	Meaning
0	HMC5883
1	LSM303D
2	AK8963
3	BMM150
4	LSM9DS1
5	LIS3MDL
6	AK09916
7	IST8310
8	ICM20948
9	MMC3416
11	UAVCAN
12	QMC5883
14	MAG3110
15	IST8308
16	RM3100
17	MSP
18	ExternalAHRS

COMPASS_FLTR_RNG: Range in which sample is accepted¶

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

Increment	Range	Units
1	0 - 100	percent

COMPASS_AUTO_ROT: Automatically check orientation¶

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

Values

Value	Meaning
0	Disabled
1	CheckOnly
2	CheckAndFix
3	use same tolerance to auto rotate 45 deg rotations