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

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

COMPASS_PRIO1_ID: Compass device id with 1st order priority